branch brought up to date

.gitattributes

@@ -1,19 +0,0 @@
-# Set the default behavior, in case people don't have core.autocrlf set.
-* text=auto
-
-# Files with Unix line endings
-*.c   text eol=lf
-*.cpp text eol=lf
-*.h   text eol=lf
-*.ino text eol=lf
-*.py  text eol=lf
-*.sh  text eol=lf
-*.scad text eol=lf
-
-# Files with native line endings
-# *.sln text
-
-# Binary files
-*.png binary
-*.jpg binary
-*.fon binary

.github/FUNDING.yml

@@ -1 +0,0 @@
-custom: http://www.thinkyhead.com/donate-to-marlin

.github/code_of_conduct.md

@@ -1,46 +0,0 @@
-# Contributor Covenant Code of Conduct
-
-## Our Pledge
-
-In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
-
-## Our Standards
-
-Examples of behavior that contributes to creating a positive environment include:
-
-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
-
-Examples of unacceptable behavior by participants include:
-
-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
-* Other conduct which could reasonably be considered inappropriate in a professional setting
-
-## Our Responsibilities
-
-Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
-
-Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
-
-## Scope
-
-This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at [marlinfirmware@github.com](mailto:marlinfirmware@github.com). All complaints will be reviewed and investigated and will result in a response that is deemed necessary and appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
-
-Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [https://contributor-covenant.org/version/1/4][version]
-
-[homepage]: https://contributor-covenant.org
-[version]: https://contributor-covenant.org/version/1/4/

.github/contributing.md

@@ -1,144 +0,0 @@
-# Contributing to Marlin
-
-Thanks for your interest in contributing to Marlin Firmware!
-
-The following is a set of guidelines for contributing to Marlin, hosted by the [MarlinFirmware Organization](https://github.com/MarlinFirmware) on GitHub. These are mostly guidelines, not rules. Use your best judgment, and feel free to propose changes to this document in a Pull Request.
-
-#### Table Of Contents
-
-[Code of Conduct](#code-of-conduct)
-
-[I don't want to read this whole thing, I just have a question!!!](#i-dont-want-to-read-this-whole-thing-i-just-have-a-question)
-
-[How Can I Contribute?](#how-can-i-contribute)
-  * [Reporting Bugs](#reporting-bugs)
-  * [Suggesting Features or Changes](#suggesting-features-or-changes)
-  * [Your First Code Contribution](#your-first-code-contribution)
-  * [Pull Requests](#pull-requests)
-
-[Styleguides](#styleguides)
-  * [Git Commit Messages](#git-commit-messages)
-  * [C++ Coding Standards](#c++-coding-standards)
-  * [Documentation Styleguide](#documentation)
-
-[Additional Notes](#additional-notes)
-  * [Issue and Pull Request Labels](#issue-and-pull-request-labels)
-
-## Code of Conduct
-
-This project and everyone participating in it is governed by the [Marlin Code of Conduct](code_of_conduct.md). By participating, you are expected to uphold this code. Please report unacceptable behavior to [marlinfirmware@github.com](mailto:marlinfirmware@github.com).
-
-## I don't want to read this whole thing I just have a question!!!
-
-> **Note:** Please don't file an issue to ask a question. You'll get faster results by using the resources below.
-
-We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
-
-* [Marlin RepRap forum](http://forums.reprap.org/list.php?415)
-* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/)
-
-If chat is more your speed, you can join the MarlinFirmware Slack team:
-
-* Join the Marlin Slack Team
-  * To obtain group access, please [send a request](http://www.thinkyhead.com/contact/9) to @thinkyhead.
-  * Even though Slack is a chat service, sometimes it takes several hours for community members to respond — please be patient!
-  * Use the `#general` channel for general questions or discussion about Marlin.
-  * Other channels exist for certain topics. Check the channel list.
-
-## How Can I Contribute?
-
-### Reporting Bugs
-
-This section guides you through submitting a Bug Report for Marlin. Following these guidelines helps maintainers and the community understand your report, reproduce the behavior, and find related reports.
-
-Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](issue_template.md), the information it asks for helps us resolve issues faster.
-
-> **Note:** Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888.
-
-#### How Do I Submit A (Good) Bug Report?
-
-Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](issue_template.md).
-
-Explain the problem and include additional details to help maintainers reproduce the problem:
-
-* **Use a clear and descriptive title** for the issue to identify the problem.
-* **Describe the exact steps which reproduce the problem** in as many details as possible. For example, start by explaining how you started Marlin, e.g. which command exactly you used in the terminal, or how you started Marlin otherwise. When listing steps, **don't just say what you did, but explain how you did it**. For example, if you moved the cursor to the end of a line, explain if you used the mouse, or a keyboard shortcut or an Marlin command, and if so which one?
-* **Provide specific examples to demonstrate the steps**. Include links to files or GitHub projects, or copy/pasteable snippets, which you use in those examples. If you're providing snippets or log output in the issue, use [Markdown code blocks](https://help.github.com/articles/markdown-basics/#multiple-lines).
-* **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior.
-* **Explain which behavior you expected to see instead and why.**
-* **Include detailed log output** especially for probing and leveling. See below for usage of `DEBUG_LEVELING_FEATURE`.
-* **Include screenshots, links to videos, etc.** which clearly demonstrate the problem.
-* **Include G-code** (if relevant) that reliably causes the problem to show itself.
-* **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below.
-
-Provide more context:
-
-* **Can you reproduce the problem with a minimum of options enabled?**
-* **Did the problem start happening recently** (e.g. after updating to a new version of Marlin) or was this always a problem?
-* If the problem started happening recently, **can you reproduce the problem in an older version of Marlin?** What's the most recent version in which the problem doesn't happen? You can download older versions of Marlin from [the releases page](https://github.com/MarlinFirmware/Marlin/releases).
-* **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens.
-
-Include details about your configuration and environment:
-
-* **Which version of Marlin are you using?** Marlin's exact version and build date can be seen in the startup message when a host connects to Marlin, or in the LCD Info menu (if enabled).
-* **What kind of 3D Printer and electronics are you using**?
-* **What kind of add-ons (probe, filament sensor) do you have**?
-* **Include your Configuration files.** Make a ZIP file containing `Configuration.h` and `Configuration_adv.h` and drop it on your reply.
-
-### Suggesting Features or Changes
-
-This section guides you through submitting a suggestion for Marlin, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions.
-
-Before creating a suggestion, please check [this list](#before-submitting-a-suggestion) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-enhancement-suggestion). Fill in [the template](issue_template.md), including the steps that you imagine you would take if the feature you're requesting existed.
-
-#### Before Submitting a Feature Request
-
-* **Check the [Marlin website](http://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](http://marlinfw.org/docs/configuration/configuration.html).
-* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
-
-#### How Do I Submit A (Good) Feature Request?
-
-Feature Requests are tracked as [GitHub issues](https://guides.github.com/features/issues/). Please follow these guidelines in your request:
-
-* **Use a clear and descriptive title** for the issue to identify the suggestion.
-* **Provide a step-by-step description of the requested feature** in as much detail as possible.
-* **Provide specific examples to demonstrate the steps**.
-* **Describe the current behavior** and **explain which behavior you expected to see instead** and why.
-* **Include screenshots and links to videos** which demonstrate the feature or point out the part of Marlin to which the request is related.
-* **Explain why this feature would be useful** to most Marlin users.
-* **Name other firmwares that have this feature, if any.**
-
-### Your First Code Contribution
-
-Unsure where to begin contributing to Marlin? You can start by looking through these `good-first-issue` and `help-wanted` issues:
-
-* [Beginner issues][good-first-issue] - issues which should only require a few lines of code, and a test or two.
-* [Help Wanted issues][help-wanted] - issues which should be a bit more involved than `beginner` issues.
-
-### Pull Requests
-
-Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](http://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
-
-* Fill in [the required template](pull_request_template.md).
-* Don't include issue numbers in the PR title.
-* Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
-* Follow the [Coding Standards](http://marlinfw.org/docs/development/coding_standards.html) posted on our website.
-* Document new code with clear and concise comments.
-* End all files with a newline.
-
-## Styleguides
-
-### Git Commit Messages
-
-* Use the present tense ("Add feature" not "Added feature").
-* Use the imperative mood ("Move cursor to..." not "Moves cursor to...").
-* Limit the first line to 72 characters or fewer.
-* Reference issues and Pull Requests liberally after the first line.
-
-### C++ Coding Standards
-
-* Please read and follow the [Coding Standards](http://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
-
-### Documentation
-
-* Guidelines for documentation are still under development. In-general, be clear, concise, and to-the-point.

.github/issue_template.md

@@ -1,31 +0,0 @@
-<!--
-
-Have you read Marlin's Code of Conduct? By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/code_of_conduct.md
-
-Do you want to ask a question? Are you looking for support? Please don't post here. Instead please use the Marlin Firmware forum at http://forums.reprap.org/list.php?415 or the Marlin Facebook Group https://www.facebook.com/groups/1049718498464482/ or the Marlin Discord Server https://discord.gg/n5NJ59y.
-
-Before filing an issue be sure to test the 1.1 and/or 2.0 "bugfix" branches to see whether the issue is already addressed.
-
--->
-
-### Description
-
-<!-- Description of the bug or requested feature -->
-
-### Steps to Reproduce
-
-<!-- If this is a Bug Report, please describe the steps needed to reproduce the issue -->
-
-1. [First Step]
-2. [Second Step]
-3. [and so on...]
-
-**Expected behavior:** [What you expect to happen]
-
-**Actual behavior:** [What actually happens]
-
-#### Additional Information
-
-* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files.
-* Provide pictures or links to videos that clearly demonstrate the issue.
-* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines.

.github/pull_request_template.md

@@ -1,19 +0,0 @@
-### Requirements
-
-* Filling out this template is required. Pull Requests without a clear description may be closed at the maintainers' discretion.
-
-### Description
-
-<!--
-
-We must be able to understand your proposed change from this description. If we can't understand what the code will do from this description, the Pull Request may be closed at the maintainers' discretion. Keep in mind that the maintainer reviewing this PR may not be familiar with or have worked with the code recently, so please walk us through the concepts.
-
--->
-
-### Benefits
-
-<!-- What does this fix or improve? -->
-
-### Related Issues
-
-<!-- Whether this fixes a bug or fulfills a feature request, please list any related Issues here. -->

.github/workflows/bump-date.yml

@@ -1,25 +0,0 @@
-#
-# bump-date.yml
-# Bump the distribution date once per day
-#
-
-name: Bump Distribution Date
-
-on:
-  schedule:
-    - cron:  '0 0 * * *'
-
-jobs:
-  bump_date:
-
-    runs-on: ubuntu-latest
-
-    steps:
-
-    - name: Check out bugfix-2.0.x
-      uses: actions/checkout@v2
-      with:
-        ref: bugfix-2.0.x
-
-    - name: Bump Distribution Date
-      run: source ./buildroot/bin/bump_date

.github/workflows/test-builds.yml

@@ -1,100 +0,0 @@
-#
-# test-builds.yml
-# Do test builds to catch compile errors
-#
-
-name: CI
-
-on:
-  pull_request:
-    branches:
-    - bugfix-2.0.x
-    - dev-2.1.x
-    paths-ignore:
-    - config/**
-    - data/**
-    - docs/**
-    - '**/*.md'
-
-jobs:
-  test_builds:
-
-    runs-on: ubuntu-latest
-
-    strategy:
-      matrix:
-        test-platform:
-        # Base Environments
-
-        - DUE
-        - esp32
-        - linux_native
-        - megaatmega2560
-        - teensy31
-        - teensy35
-
-        # Extended AVR Environments
-
-        - FYSETC_F6_13
-        - megaatmega1280
-        - rambo
-        - sanguino_atmega1284p
-        - sanguino_atmega644p
-
-        # Extended STM32 Environments
-
-        - STM32F103RC_bigtree
-        - STM32F103RC_bigtree_USB
-        - STM32F103RE_bigtree
-        - STM32F103RE_bigtree_USB
-        - STM32F103RC_fysetc
-        - jgaurora_a5s_a1
-        - STM32F103VE_longer
-        - STM32F407VE_black
-        - BIGTREE_SKR_PRO
-        - mks_robin
-        - ARMED
-
-        # Put lengthy tests last
-
-        - LPC1768
-        - LPC1769
-
-        # STM32 with non-STM framework. both broken for now. they should use HAL_STM32 which is working.
-
-        #- STM32F4
-        #- STM32F7
-
-        # Non-working environment tests
-
-        #- BIGTREE_BTT002
-        #- at90usb1286_cdc
-        #- at90usb1286_dfu
-        #- STM32F103CB_malyan
-        #- mks_robin_lite
-        #- mks_robin_mini
-        #- mks_robin_nano
-        #- SAMD51_grandcentral_m4
-
-    steps:
-
-    - name: Select Python 3.7
-      uses: actions/setup-python@v1
-      with:
-        python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
-        architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified
-
-    - name: Install PlatformIO
-      run: |
-        pip install -U https://github.com/platformio/platformio-core/archive/master.zip
-        platformio update
-
-    - name: Check out the PR
-      uses: actions/checkout@v2
-
-    - name: Run ${{ matrix.test-platform }} Tests
-      run: |
-        chmod +x buildroot/bin/*
-        chmod +x buildroot/share/tests/*
-        export PATH=./buildroot/bin/:./buildroot/share/tests/:${PATH}
-        run_tests . ${{ matrix.test-platform }}

.gitignore

@@ -1,183 +1 @@
-#
-# Marlin 3D Printer Firmware
-# Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
-#
-# Based on Sprinter and grbl.
-# Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-#
-
-# Our automatic versioning scheme generates the following file
-# NEVER put it in the repository
-_Version.h
-
-#
-# OS
-#
-applet/
-*.DS_Store
-
-#
-# Misc
-#
 *~
-*.orig
-*.rej
-*.bak
-*.idea
-*.s
-*.i
-*.ii
-*.swp
-tags
-
-#
-# C++
-#
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-*.ino.cpp
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-#
-# C
-#
-# Object files
-*.o
-*.ko
-*.obj
-*.elf
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Libraries
-*.lib
-*.a
-*.la
-*.lo
-
-# Shared objects (inc. Windows DLLs)
-*.dll
-*.so
-*.so.*
-*.dylib
-
-# Executables
-*.exe
-*.out
-*.app
-*.i*86
-*.x86_64
-*.hex
-
-# Debug files
-*.dSYM/
-*.su
-
-# PlatformIO files/dirs
-.pio*
-.pioenvs
-.piolibdeps
-.clang_complete
-.gcc-flags.json
-/lib/
-
-# Workaround for Deviot+platformio quirks
-Marlin/lib
-Marlin/platformio.ini
-Marlin/*/platformio.ini
-Marlin/*/*/platformio.ini
-Marlin/*/*/*/platformio.ini
-Marlin/*/*/*/*/platformio.ini
-Marlin/.travis.yml
-Marlin/*/.travis.yml
-Marlin/*/*/.travis.yml
-Marlin/*/*/*/.travis.yml
-Marlin/*/*/*/*/.travis.yml
-Marlin/.gitignore
-Marlin/*/.gitignore
-Marlin/*/*/.gitignore
-Marlin/*/*/*/.gitignore
-Marlin/*/*/*/*/.gitignore
-Marlin/readme.txt
-Marlin/*/readme.txt
-Marlin/*/*/readme.txt
-Marlin/*/*/*/readme.txt
-Marlin/*/*/*/*/readme.txt
-
-#Visual Studio
-*.sln
-*.vcxproj
-*.vcxproj.user
-*.vcxproj.filters
-Release/
-Debug/
-__vm/
-.vs/
-vc-fileutils.settings
-
-#Visual Studio Code
-.vscode
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/*.db
-
-#cmake
-CMakeLists.txt
-src/CMakeLists.txt
-CMakeListsPrivate.txt
-
-#CLion
-cmake-build-*
-
-#Eclipse
-.project
-.cproject
-.pydevproject
-.settings
-.classpath
-
-#Python
-__pycache__

LICENSE

@@ -1,677 +0,0 @@
-
-
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (c) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received.  You must make sure that they, too, receive
-or can get the source code.  And you must show them these terms so they
-know their rights.
-
-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
-
-  For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software.  For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
-  Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so.  This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software.  The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable.  Therefore, we
-have designed this version of the GPL to prohibit the practice for those
-products.  If such problems arise substantially in other domains, we
-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
-  Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
-make it effectively proprietary.  To prevent this, the GPL assures that
-patents cannot be used to render the program non-free.
-
-  The precise terms and conditions for copying, distribution and
-modification follow.
-
-                       TERMS AND CONDITIONS
-
-  0. Definitions.
-
-  "This License" refers to version 3 of the GNU General Public License.
-
-  "Copyright" also means copyright-like laws that apply to other kinds of
-works, such as semiconductor masks.
-
-  "The Program" refers to any copyrightable work licensed under this
-License.  Each licensee is addressed as "you".  "Licensees" and
-"recipients" may be individuals or organizations.
-
-  To "modify" a work means to copy from or adapt all or part of the work
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-

Marlin/.gitignore

@@ -0,0 +1,3 @@
+*.o
+*.~
+applet/

Marlin/COPYING

@@ -0,0 +1,188 @@
+GNU GENERAL PUBLIC LICENSE
+
+Version 3, 29 June 2007
+
+Copyright © 2007 Free Software Foundation, Inc. <http://fsf.org/>
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+
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+
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+
+THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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+17. Interpretation of Sections 15 and 16.
+
+If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.
+

Marlin/EEPROMwrite.h

@@ -0,0 +1,218 @@
+#ifndef EEPROM_H
+#define EEPROM_H
+
+#include "Marlin.h"
+#include "planner.h"
+#include "temperature.h"
+#include "FPUTransform.h"
+//#include <EEPROM.h>
+
+
+
+template <class T> int EEPROM_writeAnything(int &ee, const T& value)
+{
+  const byte* p = (const byte*)(const void*)&value;
+  int i;
+  for (i = 0; i < (int)sizeof(value); i++)
+    eeprom_write_byte((unsigned char *)ee++, *p++);
+  return i;
+}
+
+template <class T> int EEPROM_readAnything(int &ee, T& value)
+{
+  byte* p = (byte*)(void*)&value;
+  int i;
+  for (i = 0; i < (int)sizeof(value); i++)
+    *p++ = eeprom_read_byte((unsigned char *)ee++);
+  return i;
+}
+//======================================================================================
+
+
+
+
+#define EEPROM_OFFSET 100
+
+
+// IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
+// in the functions below, also increment the version number. This makes sure that
+// the default values are used whenever there is a change to the data, to prevent
+// wrong data being written to the variables.
+// ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
+#define EEPROM_VERSION "V05"  
+
+inline void EEPROM_StoreSettings() 
+{
+#ifdef EEPROM_SETTINGS
+  char ver[4]= "000";
+  int i=EEPROM_OFFSET;
+  EEPROM_writeAnything(i,ver); // invalidate data first 
+  EEPROM_writeAnything(i,axis_steps_per_unit);  
+  EEPROM_writeAnything(i,max_feedrate);  
+  EEPROM_writeAnything(i,max_acceleration_units_per_sq_second);
+  EEPROM_writeAnything(i,acceleration);
+  EEPROM_writeAnything(i,retract_acceleration);
+  EEPROM_writeAnything(i,minimumfeedrate);
+  EEPROM_writeAnything(i,mintravelfeedrate);
+  EEPROM_writeAnything(i,minsegmenttime);
+  EEPROM_writeAnything(i,max_xy_jerk);
+  EEPROM_writeAnything(i,max_z_jerk);
+  EEPROM_writeAnything(i,max_e_jerk);
+  EEPROM_writeAnything(i,add_homeing);
+  #ifdef PIDTEMP
+    EEPROM_writeAnything(i,Kp);
+    EEPROM_writeAnything(i,Ki);
+    EEPROM_writeAnything(i,Kd);
+    EEPROM_writeAnything(i,Ki_Max);
+  #else
+    EEPROM_writeAnything(i,3000);
+    EEPROM_writeAnything(i,0);
+    EEPROM_writeAnything(i,0);
+  #endif
+  #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+  EEPROM_writeAnything(i,FPUEnabled);
+  #endif
+  char ver2[4]=EEPROM_VERSION;
+  i=EEPROM_OFFSET;
+  EEPROM_writeAnything(i,ver2); // validate data
+  SERIAL_ECHO_START;
+  SERIAL_ECHOLNPGM("Settings Stored");
+#endif //EEPROM_SETTINGS
+}
+
+
+inline void EEPROM_printSettings()
+{  // if def=true, the default values will be used
+  #ifdef EEPROM_SETTINGS  
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Steps per unit:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[0]);
+      SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
+      SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
+      SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
+      SERIAL_ECHOLN("");
+      
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
+      SERIAL_ECHOPAIR(" Y",max_feedrate[1] ); 
+      SERIAL_ECHOPAIR(" Z", max_feedrate[2] ); 
+      SERIAL_ECHOPAIR(" E", max_feedrate[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[0] ); 
+      SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); 
+      SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
+      SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M204 S",acceleration ); 
+      SERIAL_ECHOPAIR(" T" ,retract_acceleration);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M205 S",minimumfeedrate ); 
+      SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); 
+      SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
+      SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
+      SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+      SERIAL_ECHOPAIR(" E" ,max_e_jerk);
+      SERIAL_ECHOLN(""); 
+    SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M206 X",add_homeing[0]);
+      SERIAL_ECHOPAIR(" Y",add_homeing[1] ); 
+      SERIAL_ECHOPAIR(" Z", add_homeing[2] ); 
+      SERIAL_ECHOLN("");
+    #ifdef PIDTEMP
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("PID settings:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("   M301 P",Kp); 
+      SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
+      SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+      SERIAL_ECHOPAIR(" W" ,Ki_Max);
+      SERIAL_ECHOLN(""); 
+    #endif
+      #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+      SERIAL_ECHOPAIR(" FPU Enabled" , FPUEnabled?" yes":" no");
+      SERIAL_ECHOLN(""); 
+    #endif
+  #endif
+} 
+
+
+inline void EEPROM_RetrieveSettings(bool def=false)
+{  // if def=true, the default values will be used
+  #ifdef EEPROM_SETTINGS
+    int i=EEPROM_OFFSET;
+    char stored_ver[4];
+    char ver[4]=EEPROM_VERSION;
+    EEPROM_readAnything(i,stored_ver); //read stored version
+    //  SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
+    if ((!def)&&(strncmp(ver,stored_ver,3)==0)) 
+    {   // version number match
+      EEPROM_readAnything(i,axis_steps_per_unit);  
+      EEPROM_readAnything(i,max_feedrate);  
+      EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
+      EEPROM_readAnything(i,acceleration);
+      EEPROM_readAnything(i,retract_acceleration);
+      EEPROM_readAnything(i,minimumfeedrate);
+      EEPROM_readAnything(i,mintravelfeedrate);
+      EEPROM_readAnything(i,minsegmenttime);
+      EEPROM_readAnything(i,max_xy_jerk);
+      EEPROM_readAnything(i,max_z_jerk);
+      EEPROM_readAnything(i,max_e_jerk);
+      EEPROM_readAnything(i,add_homeing);
+      #ifndef PIDTEMP
+        float Kp,Ki,Kd;
+        int Ki_Max;
+      #endif
+      EEPROM_readAnything(i,Kp);
+      EEPROM_readAnything(i,Ki);
+      EEPROM_readAnything(i,Kd);
+      EEPROM_readAnything(i,Ki_Max);
+	  #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+	  EEPROM_readAnything(i,FPUEnabled);
+	  #endif
+
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Stored settings retreived:");
+    }
+    else 
+  #endif
+    {
+      float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
+      float tmp2[]=DEFAULT_MAX_FEEDRATE;
+      long tmp3[]=DEFAULT_MAX_ACCELERATION;
+      for (short i=0;i<4;i++) 
+      {
+        axis_steps_per_unit[i]=tmp1[i];  
+        max_feedrate[i]=tmp2[i];  
+        max_acceleration_units_per_sq_second[i]=tmp3[i];
+      }
+      acceleration=DEFAULT_ACCELERATION;
+      retract_acceleration=DEFAULT_RETRACT_ACCELERATION;
+      minimumfeedrate=DEFAULT_MINIMUMFEEDRATE;
+      minsegmenttime=DEFAULT_MINSEGMENTTIME;       
+      mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
+      max_xy_jerk=DEFAULT_XYJERK;
+      max_z_jerk=DEFAULT_ZJERK;
+      max_e_jerk=DEFAULT_EJERK;
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLN("Using Default settings:");
+    }
+  #ifdef EEPROM_CHITCHAT
+    EEPROM_printSettings();
+  #endif
+}  
+
+#endif
+
+

Marlin/FPUTransform.cpp

@@ -0,0 +1,190 @@
+#include "FPUTransform.h"
+
+#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1)
+
+#include "MatrixMath.h"
+
+float MasterTransform[4][4]; // this is the transform that describes how to move from
+							 // ideal coordinates to real world coords
+
+// private functions
+void loadMatrix(float X4, float Y3, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4);
+void transformDestination(float &X, float &Y, float &Z);
+
+bool FPUEnabled; // this is a bypass switch so that with one command the FPU can be
+				 // turned off
+
+void loadMatrix(float X4, float Y1, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4)
+{
+float Xdiff = X4 - X3;
+	serialPrintFloat(Xdiff);
+	SERIAL_ECHOLN("");
+float Ydiff = Y2 - Y1;
+	serialPrintFloat(Ydiff);
+	SERIAL_ECHOLN("");
+//clockwise
+float ZdiffX = Z4 - Z3;
+	serialPrintFloat(ZdiffX);
+	SERIAL_ECHOLN("");
+//anti clockwise
+float ZdiffY = Z1 - Z2;
+	serialPrintFloat(ZdiffY);
+	SERIAL_ECHOLN("");
+
+
+//modified to take advantage of small angle trig.
+float Xtheta = ZdiffX / Xdiff;
+//	serialPrintFloat(Xtheta);
+//	SERIAL_ECHOLN("");
+float Ytheta = ZdiffY / Ydiff;
+//	serialPrintFloat(Ytheta);
+//	SERIAL_ECHOLN("");
+float cosxtheta = 1-(Xtheta*Xtheta)/2;
+//	serialPrintFloat(cosxtheta);
+//	SERIAL_ECHOLN("");
+float sinxtheta = Xtheta;
+//	serialPrintFloat(sinxtheta);
+//	SERIAL_ECHOLN("");
+float cosytheta = 1-(Ytheta*Ytheta)/2;
+//	serialPrintFloat(cosytheta);
+//	SERIAL_ECHOLN("");
+float sinytheta = Ytheta;
+//	serialPrintFloat(sinytheta);
+//	SERIAL_ECHOLN("");
+
+//these transforms are to set the origin for each rotation
+float TranslateX0[4][4] = {{1.0, 0.0, 0.0, -X3},
+						    {0.0, 1.0, 0.0, -Y1}, 
+						    {0.0, 0.0, 1.0, -Z3}, 
+						    {0.0, 0.0, 0.0, 1.0}};
+
+float TranslateY0[4][4] = {{1.0, 0.0, 0.0, -X2},
+						   {0.0, 1.0, 0.0, -Y1}, 
+						   {0.0, 0.0, 1.0, -Z1}, 
+						   {0.0, 0.0, 0.0, 1.0}};
+
+//rotate in Y using XZ 
+float TransformY[4][4] = {{cosxtheta, 0.0, sinxtheta, 0.0},
+						  {      0.0, 1.0,        0.0, 0.0}, 
+						  {-sinxtheta, 0.0,  cosxtheta, 0.0}, 
+						  {      0.0, 0.0,        0.0, 1.0}};
+//rotate in X using YZ 
+float TransformX[4][4] = {{ 1.0,         0.0,         0.0, 0.0},
+						  { 0.0, cosytheta, sinytheta, 0.0}, 
+						  { 0.0,sinytheta, cosytheta, 0.0}, 
+						  { 0.0,         0.0,         0.0, 1.0}};
+
+
+// first translate point1 to 0 then rotate in Y then translate back
+float MatrixStage1[4][4];
+float MatrixStage2[4][4];
+//matrixMaths.MatrixMult((float*)TranslateY0, (float*)TransformX, 4, 4, 4, (float*)MatrixStage1);
+//matrixMaths.MatrixPrint((float*)MatrixStage1, 4, 4, "MatrixStage1");
+//TranslateY0[0][3] = -TranslateY0[0][3];
+//TranslateY0[1][3] = -TranslateY0[1][3];
+//TranslateY0[2][3] = -TranslateY0[2][3];
+//matrixMaths.MatrixPrint((float*)TranslateY0, 4, 4, "TranslateY0");
+//matrixMaths.MatrixMult((float*)MatrixStage1, (float*)TranslateY0, 4, 4, 4, (float*)MatrixStage2);
+//matrixMaths.MatrixPrint((float*)MatrixStage2, 4, 4, "MatrixStage2");
+//Now translate point3 to 0 and rotate in x before translating back
+float MatrixStage3[4][4];
+float MatrixStage4[4][4];
+//matrixMaths.MatrixMult((float*)MatrixStage2, (float*)TranslateX0, 4, 4, 4, (float*)MatrixStage3);
+//matrixMaths.MatrixPrint((float*)MatrixStage3, 4, 4, "MatrixStage3");
+//matrixMaths.MatrixMult((float*)MatrixStage3, (float*)TransformY, 4, 4, 4, (float*)MatrixStage4);
+matrixMaths.MatrixMult((float*)TransformX, (float*)TransformY, 4, 4, 4, (float*)MasterTransform);
+matrixMaths.MatrixPrint((float*)MatrixStage4, 4, 4, "MatrixStage4");
+//TranslateX0[0][3] = -TranslateX0[0][3];
+//TranslateX0[1][3] = -TranslateX0[1][3];
+//TranslateX0[2][3] = -TranslateX0[2][3];
+//matrixMaths.MatrixPrint((float*)TranslateX0, 4, 4, "TranslateX0");
+//matrixMaths.MatrixMult((float*)MatrixStage4, (float*)TranslateX0, 4, 4, 4, (float*)MasterTransform);
+//matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform (pre-invert)");
+
+// We now have a way to translate from real-world coordinates to idealised coortdinates, 
+// but what we actually want is a way to transform from the idealised g-code coordinates
+// to real world coordinates. 
+// This is simply the inverse.
+matrixMaths.MatrixInvert((float*)MasterTransform, 4);
+matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform");
+}
+
+void transformDestination(float &X, float &Y, float &Z)
+{
+float oldPoint[4][1]={{X}, {Y}, {Z}, {1.0}};
+float newPoint[1][4]={{0.0,0.0,0.0,0.0}};
+matrixMaths.MatrixMult((float*)MasterTransform, (float*)oldPoint, 4, 4, 1, (float*)newPoint);
+X=newPoint[0][0];
+Y=newPoint[0][1];
+Z=newPoint[0][2];
+}
+
+void FPUTransform_init()
+{
+if (FPUEnabled == true)
+  {
+  // It is important to ensure that if the bed levelling routine has not been called the 
+  // printer behaves as if the real world and idealised world are one and the same
+  matrixMaths.MatrixIdentity((float*)MasterTransform,4,4);
+  SERIAL_ECHO("transform configured to identity");
+  }
+else
+  {
+  SERIAL_ECHO("transform correction not enabled");
+  }
+}
+
+void FPUEnable()
+{
+	FPUEnabled = true;
+	FPUTransform_init();
+}
+
+void FPUReset()
+{
+	FPUTransform_init();
+}
+
+void FPUDisable()
+{
+	FPUEnabled = false;
+}
+
+void FPUTransform_determineBedOrientation()
+{
+int X3 = 15;
+float X4 = X_MAX_LENGTH - 20; 
+float X2 = (X4 + X3) / 2;
+int Y1 = 15;
+float Y2 = Y_MAX_LENGTH - 5;  
+float Z1;
+float Z2; 
+float Z3;
+float Z4;
+
+//get Z for X15 Y15, X15 Y(Y_MAX_LENGTH - 15) and X(X_MAX_LENGTH - 15) Y15
+Z3 = Probe_Bed(X3,Y1,PROBE_N);
+Z4 = Probe_Bed(X4,Y1,PROBE_N);
+Z1 = (Z3 + Z4) / 2;
+Z2 = Probe_Bed(X2,Y2,PROBE_N);
+if(FPUEnabled)
+	{
+	loadMatrix(X4, Y1, Z1, X2, Y2, Z2, X3, Z3, Z4);
+	}
+}
+
+void FPUTransform_transformDestination()
+{
+float XPoint = destination[X_AXIS];          // float variable 
+float YPoint = destination[Y_AXIS];          // float variable 
+float ZPoint = destination[Z_AXIS];          // float variable 
+if(FPUEnabled)
+	{
+	transformDestination(XPoint, YPoint, ZPoint);
+	}    
+modified_destination[X_AXIS] = XPoint;       // float variable 
+modified_destination[Y_AXIS] = YPoint;       // float variable 
+modified_destination[Z_AXIS] = ZPoint;       // float variable 
+}	
+
+#endif //UMFPUSUPPORT

Marlin/FPUTransform.h

@@ -0,0 +1,21 @@
+#ifndef __FPUTRANSFORM
+
+#define __FPUTRANSFORM
+#include "Marlin.h"
+#include "z_probe.h"
+
+#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+  extern bool FPUEnabled;
+  void FPUTransform_init();
+  void FPUEnable();
+  void FPUReset();
+  void FPUDisable();
+  void FPUTransform_determineBedOrientation();
+  void FPUTransform_transformDestination(); 
+
+#else //no UMFPU SUPPORT
+  FORCE_INLINE void FPUTransform_init() {};
+
+#endif //UMFPUSUPPORT
+
+#endif //__FPUTRANSFORM

Marlin/Marlin.h

@@ -0,0 +1,203 @@
+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+
+#ifndef MARLIN_H
+#define MARLIN_H
+
+#define  HardwareSerial_h // trick to disable the standard HWserial
+
+#define  FORCE_INLINE __attribute__((always_inline)) inline
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <inttypes.h>
+
+#include <util/delay.h>
+#include <avr/pgmspace.h>
+#include <avr/eeprom.h>
+#include  <avr/wdt.h>
+#include  <avr/interrupt.h>
+
+
+#include "fastio.h"
+#include "Configuration.h"
+#include "pins.h"
+
+#if ARDUINO >= 100 
+  #if defined(__AVR_ATmega644P__) || defined (__AVR_ATmega1284P__)
+    #include "WProgram.h"
+  #else
+    #include "Arduino.h"
+  #endif
+#else
+   #include "WProgram.h"
+#endif
+
+#include "MarlinSerial.h"
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+#include "WString.h"
+
+#if MOTHERBOARD == 8  // Teensylu
+  #define MYSERIAL Serial
+#else
+  #define MYSERIAL MSerial
+#endif
+
+//this is a unfinsihed attemp to removes a lot of warning messages, see:
+// http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011
+//typedef char prog_char PROGMEM; 
+// //#define PSTR    (s )        ((const PROGMEM char *)(s))
+// //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) 
+// //#define MYPGM(s) ((const prog_char *g PROGMEM=s))
+#define MYPGM(s) PSTR(s)
+//#define MYPGM(s)  (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];}))  //This is the normal behaviour
+//#define MYPGM(s)  (__extension__({static prog_char __c[]  = (s); &__c[0];})) //this does not work but hides the warnings
+
+
+#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
+#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
+#define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
+#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
+#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');}
+
+
+const char errormagic[] PROGMEM ="Error:";
+const char echomagic[] PROGMEM ="echo:";
+#define SERIAL_ERROR_START serialprintPGM(errormagic);
+#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
+#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
+#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
+#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
+
+#define SERIAL_ECHO_START serialprintPGM(echomagic);
+#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
+#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
+#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
+#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
+
+#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
+
+
+//things to write to serial from Programmemory. saves 400 to 2k of RAM.
+#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
+FORCE_INLINE void serialprintPGM(const char *str)
+{
+  char ch=pgm_read_byte(str);
+  while(ch)
+  {
+    MYSERIAL.write(ch);
+    ch=pgm_read_byte(++str);
+  }
+}
+
+// printing floats to 3DP
+FORCE_INLINE void serialPrintFloat( float f){
+  SERIAL_ECHO((int)f);
+  SERIAL_ECHOPGM(".");
+  int mantissa = (f - (int)f) * 1000;
+  SERIAL_ECHO( abs(mantissa) );
+}
+
+void get_command();
+void process_commands();
+
+void manage_inactivity(byte debug);
+
+#if X_ENABLE_PIN > -1
+  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
+  #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
+#else
+  #define enable_x() ;
+  #define disable_x() ;
+#endif
+
+#if Y_ENABLE_PIN > -1
+  #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
+  #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+#else
+  #define enable_y() ;
+  #define disable_y() ;
+#endif
+
+#if Z_ENABLE_PIN > -1
+  #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+  #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+#else
+  #define enable_z() ;
+  #define disable_z() ;
+#endif
+
+#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
+  #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e0()  /* nothing */
+  #define disable_e0() /* nothing */
+#endif
+
+#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
+  #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e1()  /* nothing */
+  #define disable_e1() /* nothing */
+#endif
+
+#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
+  #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e2()  /* nothing */
+  #define disable_e2() /* nothing */
+#endif
+
+
+enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
+
+
+void FlushSerialRequestResend();
+void ClearToSend();
+
+void get_coordinates();
+void prepare_move();
+void kill();
+void Stop();
+
+bool IsStopped();
+
+void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
+void prepare_arc_move(char isclockwise);
+
+#ifndef CRITICAL_SECTION_START
+  #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
+  #define CRITICAL_SECTION_END    SREG = _sreg;
+#endif //CRITICAL_SECTION_START
+
+extern float homing_feedrate[];
+extern float fast_home_feedrate[];
+extern bool axis_relative_modes[];
+extern volatile int feedmultiply;
+extern int saved_feedmultiply;
+extern float current_position[NUM_AXIS] ;
+extern float add_homeing[3];
+extern unsigned char FanSpeed;
+
+extern float destination[NUM_AXIS];
+extern float modified_destination[NUM_AXIS];
+extern float offset[3];
+extern float feedrate, next_feedrate, saved_feedrate;
+
+
+// Handling multiple extruders pins
+extern uint8_t active_extruder;
+
+#endif

Marlin/Marlin.ino

@@ -1,53 +0,0 @@
-/*
-================================================================================
-
-  Marlin Firmware
-
-  (c) 2011-2019 MarlinFirmware
-  Portions of Marlin are (c) by their respective authors.
-  All code complies with GPLv2 and/or GPLv3
-
-================================================================================
-
-Greetings! Thank you for choosing Marlin 2 as your 3D printer firmware.
-
-To configure Marlin you must edit Configuration.h and Configuration_adv.h
-located in the root 'Marlin' folder. Check the config/examples folder to see if
-there's a more suitable starting-point for your specific hardware.
-
-Before diving in, we recommend the following essential links:
-
-Marlin Firmware Official Website
-
-  - http://marlinfw.org/
-    The official Marlin Firmware website contains the most up-to-date
-    documentation. Contributions are always welcome!
-
-Configuration
-
-  - https://www.youtube.com/watch?v=3gwWVFtdg-4
-    A good 20-minute overview of Marlin configuration by Tom Sanladerer.
-    (Applies to Marlin 1.0.x, so Jerk and Acceleration should be halved.)
-    Also... https://www.google.com/search?tbs=vid%3A1&q=configure+marlin
-
-  - http://marlinfw.org/docs/configuration/configuration.html
-    Marlin's configuration options are explained in more detail here.
-
-Getting Help
-
-  - http://forums.reprap.org/list.php?415
-    The Marlin Discussion Forum is a great place to get help from other Marlin
-    users who may have experienced similar issues to your own.
-
-  - https://github.com/MarlinFirmware/Marlin/issues
-    With a free GitHub account you can provide us with feedback, bug reports,
-    and feature requests via the Marlin Issue Queue.
-
-Contributing
-
-  - http://marlinfw.org/docs/development/contributing.html
-    If you'd like to contribute to Marlin, read this first!
-
-  - http://marlinfw.org/docs/development/coding_standards.html
-    Before submitting code get to know the Coding Standards.
-*/

Marlin/MarlinSerial.cpp

@@ -0,0 +1,329 @@
+/*
+  HardwareSerial.cpp - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  Modified 23 November 2006 by David A. Mellis
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#include "Marlin.h"
+#include "MarlinSerial.h"
+
+#if MOTHERBOARD != 8 // !teensylu
+// this next line disables the entire HardwareSerial.cpp, 
+// this is so I can support Attiny series and any other chip without a uart
+#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
+
+#if defined(UBRRH) || defined(UBRR0H)
+  ring_buffer rx_buffer  =  { { 0 }, 0, 0 };
+#endif
+
+FORCE_INLINE void store_char(unsigned char c)
+{
+  int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+
+  // if we should be storing the received character into the location
+  // just before the tail (meaning that the head would advance to the
+  // current location of the tail), we're about to overflow the buffer
+  // and so we don't write the character or advance the head.
+  if (i != rx_buffer.tail) {
+    rx_buffer.buffer[rx_buffer.head] = c;
+    rx_buffer.head = i;
+  }
+}
+
+
+//#elif defined(SIG_USART_RECV)
+#if defined(USART0_RX_vect)
+  // fixed by Mark Sproul this is on the 644/644p
+  //SIGNAL(SIG_USART_RECV)
+  SIGNAL(USART0_RX_vect)
+  {
+  #if defined(UDR0)
+    unsigned char c  =  UDR0;
+  #elif defined(UDR)
+    unsigned char c  =  UDR;  //  atmega8, atmega32
+  #else
+    #error UDR not defined
+  #endif
+    store_char(c);
+  }
+#endif
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+MarlinSerial::MarlinSerial()
+{
+
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void MarlinSerial::begin(long baud)
+{
+  uint16_t baud_setting;
+  bool useU2X0 = true;
+
+#if F_CPU == 16000000UL
+  // hardcoded exception for compatibility with the bootloader shipped
+  // with the Duemilanove and previous boards and the firmware on the 8U2
+  // on the Uno and Mega 2560.
+  if (baud == 57600) {
+    useU2X0 = false;
+  }
+#endif
+  
+  if (useU2X0) {
+    UCSR0A = 1 << U2X0;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  } else {
+    UCSR0A = 0;
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+  }
+
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  UBRR0H = baud_setting >> 8;
+  UBRR0L = baud_setting;
+
+  sbi(UCSR0B, RXEN0);
+  sbi(UCSR0B, TXEN0);
+  sbi(UCSR0B, RXCIE0);
+}
+
+void MarlinSerial::end()
+{
+  cbi(UCSR0B, RXEN0);
+  cbi(UCSR0B, TXEN0);
+  cbi(UCSR0B, RXCIE0);  
+}
+
+
+
+int MarlinSerial::peek(void)
+{
+  if (rx_buffer.head == rx_buffer.tail) {
+    return -1;
+  } else {
+    return rx_buffer.buffer[rx_buffer.tail];
+  }
+}
+
+int MarlinSerial::read(void)
+{
+  // if the head isn't ahead of the tail, we don't have any characters
+  if (rx_buffer.head == rx_buffer.tail) {
+    return -1;
+  } else {
+    unsigned char c = rx_buffer.buffer[rx_buffer.tail];
+    rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
+    return c;
+  }
+}
+
+void MarlinSerial::flush()
+{
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // were full, not empty.
+  rx_buffer.head = rx_buffer.tail;
+}
+
+
+
+
+/// imports from print.h
+
+
+
+
+void MarlinSerial::print(char c, int base)
+{
+  print((long) c, base);
+}
+
+void MarlinSerial::print(unsigned char b, int base)
+{
+  print((unsigned long) b, base);
+}
+
+void MarlinSerial::print(int n, int base)
+{
+  print((long) n, base);
+}
+
+void MarlinSerial::print(unsigned int n, int base)
+{
+  print((unsigned long) n, base);
+}
+
+void MarlinSerial::print(long n, int base)
+{
+  if (base == 0) {
+    write(n);
+  } else if (base == 10) {
+    if (n < 0) {
+      print('-');
+      n = -n;
+    }
+    printNumber(n, 10);
+  } else {
+    printNumber(n, base);
+  }
+}
+
+void MarlinSerial::print(unsigned long n, int base)
+{
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+void MarlinSerial::print(double n, int digits)
+{
+  printFloat(n, digits);
+}
+
+void MarlinSerial::println(void)
+{
+  print('\r');
+  print('\n');  
+}
+
+void MarlinSerial::println(const String &s)
+{
+  print(s);
+  println();
+}
+
+void MarlinSerial::println(const char c[])
+{
+  print(c);
+  println();
+}
+
+void MarlinSerial::println(char c, int base)
+{
+  print(c, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned char b, int base)
+{
+  print(b, base);
+  println();
+}
+
+void MarlinSerial::println(int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(double n, int digits)
+{
+  print(n, digits);
+  println();
+}
+
+// Private Methods /////////////////////////////////////////////////////////////
+
+void MarlinSerial::printNumber(unsigned long n, uint8_t base)
+{
+  unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. 
+  unsigned long i = 0;
+
+  if (n == 0) {
+    print('0');
+    return;
+  } 
+
+  while (n > 0) {
+    buf[i++] = n % base;
+    n /= base;
+  }
+
+  for (; i > 0; i--)
+    print((char) (buf[i - 1] < 10 ?
+      '0' + buf[i - 1] :
+      'A' + buf[i - 1] - 10));
+}
+
+void MarlinSerial::printFloat(double number, uint8_t digits) 
+{ 
+  // Handle negative numbers
+  if (number < 0.0)
+  {
+     print('-');
+     number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  for (uint8_t i=0; i<digits; ++i)
+    rounding /= 10.0;
+  
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits > 0)
+    print("."); 
+
+  // Extract digits from the remainder one at a time
+  while (digits-- > 0)
+  {
+    remainder *= 10.0;
+    int toPrint = int(remainder);
+    print(toPrint);
+    remainder -= toPrint; 
+  } 
+}
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+
+MarlinSerial MSerial;
+
+#endif // whole file
+#endif //teensylu
+

Marlin/MarlinSerial.h

@@ -0,0 +1,150 @@
+/*
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#ifndef MarlinSerial_h
+#define MarlinSerial_h
+#include "Marlin.h"
+
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+
+#if MOTHERBOARD != 8 // ! teensylu
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+
+struct ring_buffer
+{
+  unsigned char buffer[RX_BUFFER_SIZE];
+  int head;
+  int tail;
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+  extern ring_buffer rx_buffer;
+#endif
+
+class MarlinSerial //: public Stream
+{
+
+  public:
+    MarlinSerial();
+    void begin(long);
+    void end();
+    int peek(void);
+    int read(void);
+    void flush(void);
+    
+    FORCE_INLINE int available(void)
+    {
+      return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
+    }
+    
+    FORCE_INLINE void write(uint8_t c)
+    {
+      while (!((UCSR0A) & (1 << UDRE0)))
+        ;
+
+      UDR0 = c;
+    }
+    
+    
+    FORCE_INLINE void checkRx(void)
+    {
+      if((UCSR0A & (1<<RXC0)) != 0) {
+        unsigned char c  =  UDR0;
+        int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+
+        // if we should be storing the received character into the location
+        // just before the tail (meaning that the head would advance to the
+        // current location of the tail), we're about to overflow the buffer
+        // and so we don't write the character or advance the head.
+        if (i != rx_buffer.tail) {
+          rx_buffer.buffer[rx_buffer.head] = c;
+          rx_buffer.head = i;
+        }
+      }
+    }
+    
+    
+    private:
+    void printNumber(unsigned long, uint8_t);
+    void printFloat(double, uint8_t);
+    
+    
+  public:
+    
+    FORCE_INLINE void write(const char *str)
+    {
+      while (*str)
+        write(*str++);
+    }
+
+
+    FORCE_INLINE void write(const uint8_t *buffer, size_t size)
+    {
+      while (size--)
+        write(*buffer++);
+    }
+
+    FORCE_INLINE void print(const String &s)
+    {
+      for (int i = 0; i < (int)s.length(); i++) {
+        write(s[i]);
+      }
+    }
+    
+    FORCE_INLINE void print(const char *str)
+    {
+      write(str);
+    }
+    void print(char, int = BYTE);
+    void print(unsigned char, int = BYTE);
+    void print(int, int = DEC);
+    void print(unsigned int, int = DEC);
+    void print(long, int = DEC);
+    void print(unsigned long, int = DEC);
+    void print(double, int = 2);
+
+    void println(const String &s);
+    void println(const char[]);
+    void println(char, int = BYTE);
+    void println(unsigned char, int = BYTE);
+    void println(int, int = DEC);
+    void println(unsigned int, int = DEC);
+    void println(long, int = DEC);
+    void println(unsigned long, int = DEC);
+    void println(double, int = 2);
+    void println(void);
+};
+
+extern MarlinSerial MSerial;
+#endif // ! teensylu
+
+#endif

Marlin/MatrixMath.cpp

@@ -0,0 +1,206 @@
+/*
+ *  MatrixMath.cpp Library for MatrixMath
+ *
+ *  Created by Charlie Matlack on 12/18/10.
+ *  Modified from code by RobH45345 on Arduino Forums, taken from unknown source.
+ *  MatrixMath.cpp 
+ */
+
+#include "Marlin.h"
+#include "MatrixMath.h"
+
+#define NR_END 1
+
+MatrixMath::MatrixMath()
+{
+}
+
+// Matrix Printing Routine
+// Uses tabs to separate numbers under assumption printed float width won't cause problems
+void MatrixMath::MatrixPrint(float* A, int m, int n, String label){
+	// A = input matrix (m x n)
+	int i,j;
+	SERIAL_ECHOLN(' ');
+	SERIAL_ECHOLN(label);
+	for (i=0; i<m; i++){
+		for (j=0;j<n;j++){
+			serialPrintFloat(A[n*i+j]);
+			SERIAL_ECHO("\t");
+		}
+		SERIAL_ECHOLN(' ');
+	}
+}
+
+void MatrixMath::MatrixCopy(float* A, int n, int m, float* B)
+{
+	int i, j, k;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+		{
+			B[n*i+j] = A[n*i+j];
+		}
+}
+	
+//Matrix Multiplication Routine
+// C = A*B
+void MatrixMath::MatrixMult(float* A, float* B, int m, int p, int n, float* C)
+{
+	// A = input matrix (m x p)
+	// B = input matrix (p x n)
+	// m = number of rows in A
+	// p = number of columns in A = number of rows in B
+	// n = number of columns in B
+	// C = output matrix = A*B (m x n)
+	int i, j, k;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+		{
+			C[n*i+j]=0;
+			for (k=0;k<p;k++)
+				C[n*i+j]= C[n*i+j]+A[p*i+k]*B[n*k+j];
+		}
+}
+
+
+//Matrix Addition Routine
+void MatrixMath::MatrixAdd(float* A, float* B, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// B = input matrix (m x n)
+	// m = number of rows in A = number of rows in B
+	// n = number of columns in A = number of columns in B
+	// C = output matrix = A+B (m x n)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[n*i+j]=A[n*i+j]+B[n*i+j];
+}
+
+
+//Matrix Subtraction Routine
+void MatrixMath::MatrixSubtract(float* A, float* B, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// B = input matrix (m x n)
+	// m = number of rows in A = number of rows in B
+	// n = number of columns in A = number of columns in B
+	// C = output matrix = A-B (m x n)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[n*i+j]=A[n*i+j]-B[n*i+j];
+}
+
+
+//Matrix Transpose Routine
+void MatrixMath::MatrixTranspose(float* A, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// m = number of rows in A
+	// n = number of columns in A
+	// C = output matrix = the transpose of A (n x m)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[m*j+i]=A[n*i+j];
+}
+
+
+//Matrix Inversion Routine
+// * This function inverts a matrix based on the Gauss Jordan method.
+// * Specifically, it uses partial pivoting to improve numeric stability.
+// * The algorithm is drawn from those presented in 
+//	 NUMERICAL RECIPES: The Art of Scientific Computing.
+// * The function returns 1 on success, 0 on failure.
+// * NOTE: The argument is ALSO the result matrix, meaning the input matrix is REPLACED
+int MatrixMath::MatrixInvert(float* A, int n)
+{
+	// A = input matrix AND result matrix
+	// n = number of rows = number of columns in A (n x n)
+	int pivrow;		// keeps track of current pivot row
+	int k,i,j;		// k: overall index along diagonal; i: row index; j: col index
+	int pivrows[n]; // keeps track of rows swaps to undo at end
+	float tmp;		// used for finding max value and making column swaps
+	
+	for (k = 0; k < n; k++)
+	{
+		// find pivot row, the row with biggest entry in current column
+		tmp = 0;
+		for (i = k; i < n; i++)
+		{
+			if (abs(A[i*n+k]) >= tmp)	// 'Avoid using other functions inside abs()?'
+			{
+				tmp = abs(A[i*n+k]);
+				pivrow = i;
+			}
+		}
+		
+		// check for singular matrix
+		if (A[pivrow*n+k] == 0.0f)
+		{
+			SERIAL_ECHOLNPGM("Inversion failed due to singular matrix");
+			return 0;
+		}
+		
+		// Execute pivot (row swap) if needed
+		if (pivrow != k)
+		{
+			// swap row k with pivrow
+			for (j = 0; j < n; j++)
+			{
+				tmp = A[k*n+j];
+				A[k*n+j] = A[pivrow*n+j];
+				A[pivrow*n+j] = tmp;
+			}
+		}
+		pivrows[k] = pivrow;	// record row swap (even if no swap happened)
+		
+		tmp = 1.0f/A[k*n+k];	// invert pivot element
+		A[k*n+k] = 1.0f;		// This element of input matrix becomes result matrix
+		
+		// Perform row reduction (divide every element by pivot)
+		for (j = 0; j < n; j++)
+		{
+			A[k*n+j] = A[k*n+j]*tmp;
+		}
+		
+		// Now eliminate all other entries in this column
+		for (i = 0; i < n; i++)
+		{
+			if (i != k)
+			{
+				tmp = A[i*n+k];
+				A[i*n+k] = 0.0f;  // The other place where in matrix becomes result mat
+				for (j = 0; j < n; j++)
+				{
+					A[i*n+j] = A[i*n+j] - A[k*n+j]*tmp;
+				}
+			}
+		}
+	}
+	
+	// Done, now need to undo pivot row swaps by doing column swaps in reverse order
+	for (k = n-1; k >= 0; k--)
+	{
+		if (pivrows[k] != k)
+		{
+			for (i = 0; i < n; i++)
+			{
+				tmp = A[i*n+k];
+				A[i*n+k] = A[i*n+pivrows[k]];
+				A[i*n+pivrows[k]] = tmp;
+			}
+		}
+	}
+	return 1;
+}
+
+void MatrixMath::MatrixIdentity(float* A, int m, int n)
+{
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			A[n*i+j]=i==j?1:0;
+}
+
+MatrixMath matrixMaths; //instance

Marlin/MatrixMath.h

@@ -0,0 +1,29 @@
+/*
+ *  MatrixMath.h Library for Matrix Math
+ *
+ *  Created by Charlie Matlack on 12/18/10.
+ *  Modified from code by RobH45345 on Arduino Forums, taken from unknown source.
+ */
+
+#ifndef MatrixMath_h
+#define MatrixMath_h
+
+#include "Marlin.h"
+
+class MatrixMath
+{
+public:
+	MatrixMath();
+	void MatrixPrint(float* A, int m, int n, String label);
+	void MatrixCopy(float* A, int n, int m, float* B);
+	void MatrixMult(float* A, float* B, int m, int p, int n, float* C);
+	void MatrixAdd(float* A, float* B, int m, int n, float* C);
+	void MatrixSubtract(float* A, float* B, int m, int n, float* C);
+	void MatrixTranspose(float* A, int m, int n, float* C);
+	int MatrixInvert(float* A, int n);
+	void MatrixIdentity(float* A, int m, int n);
+};
+
+extern MatrixMath matrixMaths;
+
+#endif

Marlin/Sanguino/boards.txt

@@ -0,0 +1,16 @@
+##############################################################
+
+sanguino.name=Sanguino
+sanguino.upload.protocol=stk500
+sanguino.upload.maximum_size=63488
+sanguino.upload.speed=38400
+sanguino.bootloader.low_fuses=0xFF
+sanguino.bootloader.high_fuses=0xDC
+sanguino.bootloader.extended_fuses=0xFD
+sanguino.bootloader.path=atmega644p
+sanguino.bootloader.file=ATmegaBOOT_644P.hex
+sanguino.bootloader.unlock_bits=0x3F
+sanguino.bootloader.lock_bits=0x0F
+sanguino.build.mcu=atmega644p
+sanguino.build.f_cpu=16000000L
+sanguino.build.core=arduino

Marlin/Sanguino/bootloaders/atmega644p/ATmegaBOOT.c

@@ -0,0 +1,713 @@
+/**********************************************************/
+/* Serial Bootloader for Atmel megaAVR Controllers        */
+/*                                                        */
+/* tested with ATmega644 and ATmega644P                   */
+/* should work with other mega's, see code for details    */
+/*                                                        */
+/* ATmegaBOOT.c                                           */
+/*                                                        */
+/* 20090131: Added 324P support from Alex Leone           */
+/*           Marius Kintel                                */
+/* 20080915: applied ADABoot mods for Sanguino 644P       */
+/*           Brian Riley                                  */
+/* 20080711: hacked for Sanguino by Zach Smith            */
+/*           and Justin Day                               */
+/* 20070626: hacked for Arduino Diecimila (which auto-    */
+/*           resets when a USB connection is made to it)  */
+/*           by D. Mellis                                 */
+/* 20060802: hacked for Arduino by D. Cuartielles         */
+/*           based on a previous hack by D. Mellis        */
+/*           and D. Cuartielles                           */
+/*                                                        */
+/* Monitor and debug functions were added to the original */
+/* code by Dr. Erik Lins, chip45.com. (See below)         */
+/*                                                        */
+/* Thanks to Karl Pitrich for fixing a bootloader pin     */
+/* problem and more informative LED blinking!             */
+/*                                                        */
+/* For the latest version see:                            */
+/* http://www.chip45.com/                                 */
+/*                                                        */
+/* ------------------------------------------------------ */
+/*                                                        */
+/* based on stk500boot.c                                  */
+/* Copyright (c) 2003, Jason P. Kyle                      */
+/* All rights reserved.                                   */
+/* see avr1.org for original file and information         */
+/*                                                        */
+/* This program is free software; you can redistribute it */
+/* and/or modify it under the terms of the GNU General    */
+/* Public License as published by the Free Software       */
+/* Foundation; either version 2 of the License, or        */
+/* (at your option) any later version.                    */
+/*                                                        */
+/* This program is distributed in the hope that it will   */
+/* be useful, but WITHOUT ANY WARRANTY; without even the  */
+/* implied warranty of MERCHANTABILITY or FITNESS FOR A   */
+/* PARTICULAR PURPOSE.  See the GNU General Public        */
+/* License for more details.                              */
+/*                                                        */
+/* You should have received a copy of the GNU General     */
+/* Public License along with this program; if not, write  */
+/* to the Free Software Foundation, Inc.,                 */
+/* 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA */
+/*                                                        */
+/* Licence can be viewed at                               */
+/* http://www.fsf.org/licenses/gpl.txt                    */
+/*                                                        */
+/* Target = Atmel AVR m128,m64,m32,m16,m8,m162,m163,m169, */
+/* m8515,m8535. ATmega161 has a very small boot block so  */
+/* isn't supported.                                       */
+/*                                                        */
+/* Tested with m168                                       */
+/**********************************************************/
+
+/* $Id$ */
+
+
+/* some includes */
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+#include <avr/wdt.h>
+#include <avr/boot.h>
+
+#ifdef ADABOOT
+    #define NUM_LED_FLASHES 3
+    #define ADABOOT_VER	1
+#endif
+
+
+/* 20070707: hacked by David A. Mellis - after this many errors give up and launch application */
+#define MAX_ERROR_COUNT 5
+
+/* set the UART baud rate */
+/* 20080711: hack by Zach Hoeken */
+#define BAUD_RATE   38400
+
+/* SW_MAJOR and MINOR needs to be updated from time to time to avoid warning message from AVR Studio */
+/* never allow AVR Studio to do an update !!!! */
+#define HW_VER	 0x02
+#define SW_MAJOR 0x01
+#define SW_MINOR 0x10
+
+/* onboard LED is used to indicate, that the bootloader was entered (3x flashing) */
+/* if monitor functions are included, LED goes on after monitor was entered */
+#define LED_DDR  DDRB
+#define LED_PORT PORTB
+#define LED_PIN  PINB
+#define LED      PINB0
+
+/* define various device id's */
+/* manufacturer byte is always the same */
+#define SIG1	0x1E	// Yep, Atmel is the only manufacturer of AVR micros.  Single source :(
+#if defined(__AVR_ATmega644P__)
+#define SIG2	0x96
+#define SIG3	0x0A
+#elif defined(__AVR_ATmega644__)
+#define SIG2	0x96
+#define SIG3	0x09
+#elif defined(__AVR_ATmega324P__)
+#define SIG2	0x95
+#define SIG3	0x08
+#endif
+#define PAGE_SIZE		0x080U   //128 words
+#define PAGE_SIZE_BYTES	0x100U   //256 bytes
+
+/* function prototypes */
+void putch(char);
+char getch(void);
+void getNch(uint8_t);
+void byte_response(uint8_t);
+void nothing_response(void);
+char gethex(void);
+void puthex(char);
+void flash_led(uint8_t);
+
+/* some variables */
+union address_union
+{
+    uint16_t word;
+    uint8_t  byte[2];
+} address;
+
+union length_union
+{
+    uint16_t word;
+    uint8_t  byte[2];
+} length;
+
+struct flags_struct
+{
+    unsigned eeprom : 1;
+    unsigned rampz  : 1;
+} flags;
+
+uint8_t buff[256];
+
+uint8_t error_count = 0;
+uint8_t sreg;
+
+void (*app_start)(void) = 0x0000;
+
+/* main program starts here */
+int main(void)
+{
+    uint8_t ch,ch2;
+    uint16_t w;
+	uint16_t i;
+	
+    asm volatile("nop\n\t");
+
+#ifdef ADABOOT		// BBR/LF 10/8/2007 & 9/13/2008
+    ch = MCUSR;
+    MCUSR = 0;
+
+    WDTCSR |= _BV(WDCE) | _BV(WDE);
+    WDTCSR = 0;
+
+    // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
+    if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+      app_start();  // skip bootloader
+#endif
+
+
+	//initialize our serial port.
+    UBRR0L = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1);
+    UBRR0H = (F_CPU/(BAUD_RATE*16L)-1) >> 8;
+    UCSR0B = (1<<RXEN0) | (1<<TXEN0);
+    UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
+
+    /* Enable internal pull-up resistor on pin D0 (RX), in order
+    to supress line noise that prevents the bootloader from
+    timing out (DAM: 20070509) */
+    DDRD &= ~_BV(PIND0);
+    PORTD |= _BV(PIND0);
+
+    /* set LED pin as output */
+    LED_DDR |= _BV(LED);
+
+	    /* flash onboard LED to signal entering of bootloader                   */
+	    /* ADABOOT will do two series of flashes. first 4 - signifying ADABOOT  */
+	    /* then a pause and another flash series signifying ADABOOT sub-version */
+
+
+	flash_led(NUM_LED_FLASHES);
+
+	#ifdef	ADABOOT
+		flash_led(ADABOOT_VER);		// BBR 9/13/2008
+	#endif 
+
+    /* forever loop */
+    for (;;)
+	{
+		/* get character from UART */
+		ch = getch();
+
+		/* A bunch of if...else if... gives smaller code than switch...case ! */
+
+		/* Hello is anyone home ? */ 
+		if(ch=='0')
+		    nothing_response();
+
+
+		/* Request programmer ID */
+		/* Not using PROGMEM string due to boot block in m128 being beyond 64kB boundry  */
+		/* Would need to selectively manipulate RAMPZ, and it's only 9 characters anyway so who cares.  */
+		else if(ch=='1')
+		{
+		    if (getch() == ' ')
+			{
+				putch(0x14);
+				putch('A');
+				putch('V');
+				putch('R');
+				putch(' ');
+				putch('I');
+				putch('S');
+				putch('P');
+				putch(0x10);
+		    }
+			else
+			{
+				if (++error_count == MAX_ERROR_COUNT)
+				    app_start();
+		    }
+		}
+
+
+		/* AVR ISP/STK500 board commands  DON'T CARE so default nothing_response */
+		else if(ch=='@')
+		{
+		    ch2 = getch();
+		    if (ch2 > 0x85)
+				getch();
+		    nothing_response();
+		}
+
+
+		/* AVR ISP/STK500 board requests */
+		else if(ch=='A')
+		{
+		    ch2 = getch();
+		    if(ch2 == 0x80)
+				byte_response(HW_VER);		// Hardware version
+		    else if(ch2==0x81)
+				byte_response(SW_MAJOR);	// Software major version
+		    else if(ch2==0x82)
+				byte_response(SW_MINOR);	// Software minor version
+		    else if(ch2==0x98)
+				byte_response(0x03);		// Unknown but seems to be required by avr studio 3.56
+		    else
+				byte_response(0x00);		// Covers various unnecessary responses we don't care about
+		}
+
+
+		/* Device Parameters  DON'T CARE, DEVICE IS FIXED  */
+		else if(ch=='B')
+		{
+		    getNch(20);
+		    nothing_response();
+		}
+
+
+		/* Parallel programming stuff  DON'T CARE  */
+		else if(ch=='E')
+		{
+		    getNch(5);
+		    nothing_response();
+		}
+
+
+		/* Enter programming mode  */
+		else if(ch=='P')
+		{
+		    nothing_response();
+		}
+
+
+		/* Leave programming mode  */
+		else if(ch=='Q')
+		{
+		    nothing_response();
+#ifdef ADABOOT		
+			// autoreset via watchdog (sneaky!) BBR/LF 9/13/2008
+	  		WDTCSR = _BV(WDE);
+	  		while (1); // 16 ms
+#endif		
+		}
+
+
+		/* Erase device, don't care as we will erase one page at a time anyway.  */
+		else if(ch=='R')
+		{
+		    nothing_response();
+		}
+
+
+		/* Set address, little endian. EEPROM in bytes, FLASH in words  */
+		/* Perhaps extra address bytes may be added in future to support > 128kB FLASH.  */
+		/* This might explain why little endian was used here, big endian used everywhere else.  */
+		else if(ch=='U')
+		{
+		    address.byte[0] = getch();
+		    address.byte[1] = getch();
+		    nothing_response();
+		}
+
+
+		/* Universal SPI programming command, disabled.  Would be used for fuses and lock bits.  */
+		else if(ch=='V')
+		{
+		    getNch(4);
+		    byte_response(0x00);
+		}
+
+
+		/* Write memory, length is big endian and is in bytes  */
+		else if(ch=='d')
+		{
+		    length.byte[1] = getch();
+		    length.byte[0] = getch();
+	
+		    flags.eeprom = 0;
+		    if (getch() == 'E')
+				flags.eeprom = 1;
+
+			for (i=0; i<PAGE_SIZE; i++)
+				buff[i] = 0;
+		
+		    for (w = 0; w < length.word; w++)
+			{
+				// Store data in buffer, can't keep up with serial data stream whilst programming pages
+				buff[w] = getch();
+		    }
+	
+		    if (getch() == ' ')
+			{
+				if (flags.eeprom)
+				{		                
+					//Write to EEPROM one byte at a time
+				    for(w=0;w<length.word;w++)
+					{
+						while(EECR & (1<<EEPE));
+					
+						EEAR = (uint16_t)(void *)address.word;
+						EEDR = buff[w];
+						EECR |= (1<<EEMPE);
+						EECR |= (1<<EEPE);
+
+						address.word++;
+				    }			
+				}
+				else
+				{
+					//address * 2 -> byte location
+				    address.word = address.word << 1;
+			    
+					//Even up an odd number of bytes
+					if ((length.byte[0] & 0x01))
+						length.word++;
+				
+					// HACKME: EEPE used to be EEWE
+				    //Wait for previous EEPROM writes to complete
+					//while(bit_is_set(EECR,EEPE));
+					while(EECR & (1<<EEPE));
+				
+				    asm volatile(
+						 "clr	r17		\n\t"	//page_word_count
+						 "lds	r30,address	\n\t"	//Address of FLASH location (in bytes)
+						 "lds	r31,address+1	\n\t"
+						 "ldi	r28,lo8(buff)	\n\t"	//Start of buffer array in RAM
+						 "ldi	r29,hi8(buff)	\n\t"
+						 "lds	r24,length	\n\t"	//Length of data to be written (in bytes)
+						 "lds	r25,length+1	\n\t"
+						 "length_loop:		\n\t"	//Main loop, repeat for number of words in block							 							 
+						 "cpi	r17,0x00	\n\t"	//If page_word_count=0 then erase page
+						 "brne	no_page_erase	\n\t"						 
+						 "wait_spm1:		\n\t"
+						 "lds	r16,%0		\n\t"	//Wait for previous spm to complete
+						 "andi	r16,1           \n\t"
+						 "cpi	r16,1           \n\t"
+						 "breq	wait_spm1       \n\t"
+						 "ldi	r16,0x03	\n\t"	//Erase page pointed to by Z
+						 "sts	%0,r16		\n\t"
+						 "spm			\n\t"							 
+						 "wait_spm2:		\n\t"
+						 "lds	r16,%0		\n\t"	//Wait for previous spm to complete
+						 "andi	r16,1           \n\t"
+						 "cpi	r16,1           \n\t"
+						 "breq	wait_spm2       \n\t"									 
+
+						 "ldi	r16,0x11	\n\t"	//Re-enable RWW section
+						 "sts	%0,r16		\n\t"						 			 
+						 "spm			\n\t"
+						 "no_page_erase:		\n\t"							 
+						 "ld	r0,Y+		\n\t"	//Write 2 bytes into page buffer
+						 "ld	r1,Y+		\n\t"							 
+							 
+						 "wait_spm3:		\n\t"
+						 "lds	r16,%0		\n\t"	//Wait for previous spm to complete
+						 "andi	r16,1           \n\t"
+						 "cpi	r16,1           \n\t"
+						 "breq	wait_spm3       \n\t"
+						 "ldi	r16,0x01	\n\t"	//Load r0,r1 into FLASH page buffer
+						 "sts	%0,r16		\n\t"
+						 "spm			\n\t"
+							 
+						 "inc	r17		\n\t"	//page_word_count++
+						 "cpi r17,%1	        \n\t"
+						 "brlo	same_page	\n\t"	//Still same page in FLASH
+						 "write_page:		\n\t"
+						 "clr	r17		\n\t"	//New page, write current one first
+						 "wait_spm4:		\n\t"
+						 "lds	r16,%0		\n\t"	//Wait for previous spm to complete
+						 "andi	r16,1           \n\t"
+						 "cpi	r16,1           \n\t"
+						 "breq	wait_spm4       \n\t"						 							 
+						 "ldi	r16,0x05	\n\t"	//Write page pointed to by Z
+						 "sts	%0,r16		\n\t"
+						 "spm			\n\t"
+						 "wait_spm5:		\n\t"
+						 "lds	r16,%0		\n\t"	//Wait for previous spm to complete
+						 "andi	r16,1           \n\t"
+						 "cpi	r16,1           \n\t"
+						 "breq	wait_spm5       \n\t"									 
+						 "ldi	r16,0x11	\n\t"	//Re-enable RWW section
+						 "sts	%0,r16		\n\t"						 			 
+						 "spm			\n\t"					 		 
+						 "same_page:		\n\t"							 
+						 "adiw	r30,2		\n\t"	//Next word in FLASH
+						 "sbiw	r24,2		\n\t"	//length-2
+						 "breq	final_write	\n\t"	//Finished
+						 "rjmp	length_loop	\n\t"
+						 "final_write:		\n\t"
+						 "cpi	r17,0		\n\t"
+						 "breq	block_done	\n\t"
+						 "adiw	r24,2		\n\t"	//length+2, fool above check on length after short page write
+						 "rjmp	write_page	\n\t"
+						 "block_done:		\n\t"
+						 "clr	__zero_reg__	\n\t"	//restore zero register
+						 : "=m" (SPMCSR) : "M" (PAGE_SIZE) : "r0","r16","r17","r24","r25","r28","r29","r30","r31"
+
+						 );
+				}
+				putch(0x14);
+				putch(0x10);
+		    }
+			else
+			{
+				if (++error_count == MAX_ERROR_COUNT)
+				    app_start();
+		    }		
+		}
+    
+		/* Read memory block mode, length is big endian.  */
+		else if(ch=='t')
+		{
+			length.byte[1] = getch();
+			length.byte[0] = getch();
+
+			if (getch() == 'E')
+				flags.eeprom = 1;
+			else
+			{
+				flags.eeprom = 0;
+				address.word = address.word << 1;	        // address * 2 -> byte location
+			}
+
+			// Command terminator
+			if (getch() == ' ')
+			{
+				putch(0x14);
+				for (w=0; w<length.word; w++)
+				{
+					// Can handle odd and even lengths okay
+				    if (flags.eeprom) 
+					{
+						// Byte access EEPROM read
+						while(EECR & (1<<EEPE));
+						EEAR = (uint16_t)(void *)address.word;
+						EECR |= (1<<EERE);
+						putch(EEDR);
+
+						address.word++;
+				    }
+				    else
+					{
+						if (!flags.rampz)
+							putch(pgm_read_byte_near(address.word));
+
+						address.word++;
+				    }
+				}
+				putch(0x10);
+		    }
+		}
+
+
+		/* Get device signature bytes  */
+		else if(ch=='u')
+		{
+			if (getch() == ' ')
+			{
+				putch(0x14);
+				putch(SIG1);
+				putch(SIG2);
+				putch(SIG3);
+				putch(0x10);
+			}
+			else
+			{
+				if (++error_count == MAX_ERROR_COUNT)
+					app_start();
+			}
+		}
+
+
+		/* Read oscillator calibration byte */
+		else if(ch=='v')
+			byte_response(0x00);
+
+		else if (++error_count == MAX_ERROR_COUNT)
+		    app_start();
+
+	}
+    /* end of forever loop */
+}
+
+
+char gethex(void)
+{
+    char ah,al;
+
+    ah = getch();
+	putch(ah);
+    al = getch();
+	putch(al);
+    
+	if(ah >= 'a')
+		ah = ah - 'a' + 0x0a;
+	else if(ah >= '0')
+		ah -= '0';
+    if(al >= 'a')
+		al = al - 'a' + 0x0a;
+	else if(al >= '0')
+		al -= '0';
+
+    return (ah << 4) + al;
+}
+
+
+void puthex(char ch)
+{
+    char ah,al;
+
+    ah = (ch & 0xf0) >> 4;
+	if(ah >= 0x0a)
+		ah = ah - 0x0a + 'a';
+	else
+		ah += '0';
+
+    al = (ch & 0x0f);
+	if(al >= 0x0a)
+		al = al - 0x0a + 'a';
+	else
+		al += '0';
+
+    putch(ah);
+    putch(al);
+}
+
+
+void putch(char ch)
+{
+    while (!(UCSR0A & _BV(UDRE0)));
+    UDR0 = ch;
+}
+
+
+
+
+char getch(void)
+{
+    uint32_t count = 0;
+
+#ifdef ADABOOT
+	LED_PORT &= ~_BV(LED);          // toggle LED to show activity - BBR/LF 10/3/2007 & 9/13/2008
+#endif
+
+    while(!(UCSR0A & _BV(RXC0)))
+	{
+    	/* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/               
+    	/* HACKME:: here is a good place to count times*/
+    	count++;
+    	if (count > MAX_TIME_COUNT)
+    		app_start();
+     }
+
+#ifdef ADABOOT
+	LED_PORT |= _BV(LED);          // toggle LED to show activity - BBR/LF 10/3/2007 & 9/13/2008
+#endif
+
+    return UDR0;
+}
+
+
+void getNch(uint8_t count)
+{
+    uint8_t i;
+    for(i=0;i<count;i++)
+	{
+		while(!(UCSR0A & _BV(RXC0)));
+		UDR0;
+    }
+}
+
+
+void byte_response(uint8_t val)
+{
+    if (getch() == ' ')
+	{
+		putch(0x14);
+		putch(val);
+		putch(0x10);
+    }
+	else
+	{
+		if (++error_count == MAX_ERROR_COUNT)
+		    app_start();
+    }
+}
+
+
+void nothing_response(void)
+{
+    if (getch() == ' ')
+	{
+		putch(0x14);
+		putch(0x10);
+    }
+	else
+	{
+		if (++error_count == MAX_ERROR_COUNT)
+		    app_start();
+    }
+}
+
+#ifdef ADABOOT
+
+void flash_led(uint8_t count)
+{
+    /* flash onboard LED count times to signal entering of bootloader */
+	/* l needs to be volatile or the delay loops below might get      */
+	/* optimized away if compiling with optimizations (DAM).          */
+	
+    volatile uint32_t l;
+
+    if (count == 0) {
+      count = ADABOOT;
+    }
+    
+
+	int8_t i;
+    for (i = 0; i < count; ++i) {
+		LED_PORT |= _BV(LED);					// LED on
+		for(l = 0; l < (F_CPU / 1000); ++l);		// delay NGvalue was 1000 for both loops - BBR
+		LED_PORT &= ~_BV(LED);					// LED off
+		for(l = 0; l < (F_CPU / 250); ++l);		// delay asymmteric for ADA BOOT BBR 
+	}
+
+	for(l = 0; l < (F_CPU / 100); ++l);		    // pause ADA BOOT BBR 
+		
+}
+
+#else
+
+void flash_led(uint8_t count)
+{
+    /* flash onboard LED three times to signal entering of bootloader */
+	/* l needs to be volatile or the delay loops below might get
+	optimized away if compiling with optimizations (DAM). */
+    volatile uint32_t l;
+
+    if (count == 0) {
+      count = 3;
+    }
+    
+	int8_t i;
+    for (i = 0; i < count; ++i) {
+		LED_PORT |= _BV(LED);
+		for(l = 0; l < (F_CPU / 1000); ++l);
+		LED_PORT &= ~_BV(LED);
+		for(l = 0; l < (F_CPU / 1000); ++l); 
+	}
+		
+}
+
+
+#endif
+
+
+/* end of file ATmegaBOOT.c */

Marlin/Sanguino/bootloaders/atmega644p/ATmegaBOOT_324P.hex

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Marlin/Sanguino/bootloaders/atmega644p/ATmegaBOOT_644.hex

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Marlin/Sanguino/bootloaders/atmega644p/ATmegaBOOT_644P.hex

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+:040000030000F80001
+:00000001FF

Marlin/Sanguino/bootloaders/atmega644p/Makefile

@@ -0,0 +1,56 @@
+# Makefile for ATmegaBOOT
+# E.Lins, 18.7.2005
+# $Id$
+
+
+# program name should not be changed...
+PROGRAM    = ATmegaBOOT_644P
+
+# enter the target CPU frequency
+AVR_FREQ   = 16000000L
+
+MCU_TARGET = atmega644p
+LDSECTION  = --section-start=.text=0xF800
+
+OBJ        = $(PROGRAM).o
+OPTIMIZE   = -O2
+
+DEFS       = 
+LIBS       = 
+
+CC         = avr-gcc
+
+
+# Override is only needed by avr-lib build system.
+
+override CFLAGS        = -g -Wall $(OPTIMIZE) -mmcu=$(MCU_TARGET) -DF_CPU=$(AVR_FREQ) $(DEFS)
+override LDFLAGS       = -Wl,$(LDSECTION)
+#override LDFLAGS       = -Wl,-Map,$(PROGRAM).map,$(LDSECTION)
+
+OBJCOPY        = avr-objcopy
+OBJDUMP        = avr-objdump
+
+all: CFLAGS += '-DMAX_TIME_COUNT=8000000L>>1' -DADABOOT
+all: $(PROGRAM).hex
+
+$(PROGRAM).hex: $(PROGRAM).elf
+	$(OBJCOPY) -j .text -j .data -O ihex $< $@
+	
+$(PROGRAM).elf: $(OBJ)
+	$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
+	
+$(OBJ): ATmegaBOOT.c
+	avr-gcc $(CFLAGS) $(LDFLAGS) -c -g -O2 -Wall -mmcu=$(MCU_TARGET) ATmegaBOOT.c -o $(PROGRAM).o
+
+%.lst: %.elf
+	$(OBJDUMP) -h -S $< > $@
+
+%.srec: %.elf
+	$(OBJCOPY) -j .text -j .data -O srec $< $@
+
+%.bin: %.elf
+	$(OBJCOPY) -j .text -j .data -O binary $< $@
+
+clean:
+	rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex
+	

Marlin/Sanguino/bootloaders/atmega644p/README.txt

@@ -0,0 +1,3 @@
+Note: This bootloader support ATmega644, ATmega644P and ATmega324P.
+To build, set PROGRAM and MCU_TARGET in the Makefile according to your target device.
+

Marlin/Sanguino/cores/arduino/Copy of wiring.h

@@ -0,0 +1,135 @@
+/*
+  wiring.h - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id$
+*/
+
+#ifndef Wiring_h
+#define Wiring_h
+
+#include <avr/io.h>
+#include <stdlib.h>
+#include "binary.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#define HIGH 0x1
+#define LOW  0x0
+
+#define INPUT 0x0
+#define OUTPUT 0x1
+
+#define true 0x1
+#define false 0x0
+
+#define PI 3.1415926535897932384626433832795
+#define HALF_PI 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+#define DEG_TO_RAD 0.017453292519943295769236907684886
+#define RAD_TO_DEG 57.295779513082320876798154814105
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define INTERNAL1V1 2
+#define INTERNAL2V56 3
+#else
+#define INTERNAL 3
+#endif
+#define DEFAULT 1
+#define EXTERNAL 0
+
+// undefine stdlib's abs if encountered
+#ifdef abs
+#undef abs
+#endif
+
+#define min(a,b) ((a)<(b)?(a):(b))
+#define max(a,b) ((a)>(b)?(a):(b))
+#define abs(x) ((x)>0?(x):-(x))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
+#define sq(x) ((x)*(x))
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )
+#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )
+
+#define lowByte(w) ((uint8_t) ((w) & 0xff))
+#define highByte(w) ((uint8_t) ((w) >> 8))
+
+#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
+#define bitSet(value, bit) ((value) |= (1UL << (bit)))
+#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+
+
+typedef unsigned int word;
+
+#define bit(b) (1UL << (b))
+
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+void init(void);
+
+void pinMode(uint8_t, uint8_t);
+void digitalWrite(uint8_t, uint8_t);
+int digitalRead(uint8_t);
+int analogRead(uint8_t);
+void analogReference(uint8_t mode);
+void analogWrite(uint8_t, int);
+
+unsigned long millis(void);
+unsigned long micros(void);
+void delay(unsigned long);
+void delayMicroseconds(unsigned int us);
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
+uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
+
+void attachInterrupt(uint8_t, void (*)(void), int mode);
+void detachInterrupt(uint8_t);
+
+void setup(void);
+void loop(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

Marlin/Sanguino/cores/arduino/HardwareSerial.cpp

@@ -0,0 +1,187 @@
+/*
+  HardwareSerial.cpp - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  Modified 23 November 2006 by David A. Mellis
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include "wiring.h"
+#include "wiring_private.h"
+
+// this next line disables the entire HardwareSerial.cpp, 
+// this is so I can support Attiny series and any other chip without a uart
+#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
+
+#include "HardwareSerial.h"
+
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+struct ring_buffer
+{
+  unsigned char buffer[RX_BUFFER_SIZE];
+  int head;
+  int tail;
+};
+
+ring_buffer rx_buffer  =  { { 0 }, 0, 0 };
+
+inline void store_char(unsigned char c, ring_buffer *rx_buffer)
+{
+  int i = (unsigned int)(rx_buffer->head + 1) & (RX_BUFFER_SIZE -1);
+
+  // if we should be storing the received character into the location
+  // just before the tail (meaning that the head would advance to the
+  // current location of the tail), we're about to overflow the buffer
+  // and so we don't write the character or advance the head.
+  if (i != rx_buffer->tail) {
+    rx_buffer->buffer[rx_buffer->head] = c;
+    rx_buffer->head = i;
+  }
+}
+
+// fixed by Mark Sproul this is on the 644/644p
+//SIGNAL(SIG_USART_RECV)
+SIGNAL(USART0_RX_vect)
+{
+  unsigned char c  =  UDR0;
+  store_char(c, &rx_buffer);
+}
+
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+HardwareSerial::HardwareSerial(ring_buffer *rx_buffer,
+  volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+  volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+  volatile uint8_t *udr,
+  uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x)
+{
+  _rx_buffer = rx_buffer;
+  _ubrrh = ubrrh;
+  _ubrrl = ubrrl;
+  _ucsra = ucsra;
+  _ucsrb = ucsrb;
+  _udr = udr;
+  _rxen = rxen;
+  _txen = txen;
+  _rxcie = rxcie;
+  _udre = udre;
+  _u2x = u2x;
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void HardwareSerial::begin(long baud)
+{
+  uint16_t baud_setting;
+  bool use_u2x = true;
+
+#if F_CPU == 16000000UL
+  // hardcoded exception for compatibility with the bootloader shipped
+  // with the Duemilanove and previous boards and the firmware on the 8U2
+  // on the Uno and Mega 2560.
+  if (baud == 57600) {
+    use_u2x = false;
+  }
+#endif
+  
+  if (use_u2x) {
+    *_ucsra = 1 << _u2x;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  } else {
+    *_ucsra = 0;
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+  }
+
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  *_ubrrh = baud_setting >> 8;
+  *_ubrrl = baud_setting;
+
+  sbi(*_ucsrb, _rxen);
+  sbi(*_ucsrb, _txen);
+  sbi(*_ucsrb, _rxcie);
+}
+
+void HardwareSerial::end()
+{
+  cbi(*_ucsrb, _rxen);
+  cbi(*_ucsrb, _txen);
+  cbi(*_ucsrb, _rxcie);  
+}
+
+int HardwareSerial::available(void)
+{
+  return (unsigned int)(RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) & (RX_BUFFER_SIZE-1);
+}
+
+int HardwareSerial::peek(void)
+{
+  if (_rx_buffer->head == _rx_buffer->tail) {
+    return -1;
+  } else {
+    return _rx_buffer->buffer[_rx_buffer->tail];
+  }
+}
+
+int HardwareSerial::read(void)
+{
+  // if the head isn't ahead of the tail, we don't have any characters
+  if (_rx_buffer->head == _rx_buffer->tail) {
+    return -1;
+  } else {
+    unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
+    _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) & (RX_BUFFER_SIZE-1);
+    return c;
+  }
+}
+
+void HardwareSerial::flush()
+{
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // were full, not empty.
+  _rx_buffer->head = _rx_buffer->tail;
+}
+
+void HardwareSerial::write(uint8_t c)
+{
+  while (!((*_ucsra) & (1 << _udre)))
+    ;
+
+  *_udr = c;
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+HardwareSerial Serial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0);
+
+#endif // whole file
+

Marlin/Sanguino/cores/arduino/HardwareSerial.h

@@ -0,0 +1,76 @@
+/*
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#ifndef HardwareSerial_h
+#define HardwareSerial_h
+
+#include <inttypes.h>
+
+#include "Stream.h"
+
+struct ring_buffer;
+
+class HardwareSerial : public Stream
+{
+  private:
+    ring_buffer *_rx_buffer;
+    volatile uint8_t *_ubrrh;
+    volatile uint8_t *_ubrrl;
+    volatile uint8_t *_ucsra;
+    volatile uint8_t *_ucsrb;
+    volatile uint8_t *_udr;
+    uint8_t _rxen;
+    uint8_t _txen;
+    uint8_t _rxcie;
+    uint8_t _udre;
+    uint8_t _u2x;
+  public:
+    HardwareSerial(ring_buffer *rx_buffer,
+      volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+      volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+      volatile uint8_t *udr,
+      uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x);
+    void begin(long);
+    void end();
+    virtual int available(void);
+    virtual int peek(void);
+    virtual int read(void);
+    virtual void flush(void);
+    virtual void write(uint8_t);
+    using Print::write; // pull in write(str) and write(buf, size) from Print
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+  extern HardwareSerial Serial;
+#elif defined(USBCON)
+  #include "usb_api.h"
+#endif
+#if defined(UBRR1H)
+  extern HardwareSerial Serial1;
+#endif
+#if defined(UBRR2H)
+  extern HardwareSerial Serial2;
+#endif
+#if defined(UBRR3H)
+  extern HardwareSerial Serial3;
+#endif
+
+#endif

Marlin/Sanguino/cores/arduino/Print.cpp

@@ -0,0 +1,220 @@
+/*
+ Print.cpp - Base class that provides print() and println()
+ Copyright (c) 2008 David A. Mellis.  All right reserved.
+ 
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+ 
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ 
+ Modified 23 November 2006 by David A. Mellis
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include "wiring.h"
+
+#include "Print.h"
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+/* default implementation: may be overridden */
+void Print::write(const char *str)
+{
+  while (*str)
+    write(*str++);
+}
+
+/* default implementation: may be overridden */
+void Print::write(const uint8_t *buffer, size_t size)
+{
+  while (size--)
+    write(*buffer++);
+}
+
+void Print::print(const String &s)
+{
+  for (int i = 0; i < s.length(); i++) {
+    write(s[i]);
+  }
+}
+
+void Print::print(const char str[])
+{
+  write(str);
+}
+
+void Print::print(char c, int base)
+{
+  print((long) c, base);
+}
+
+void Print::print(unsigned char b, int base)
+{
+  print((unsigned long) b, base);
+}
+
+void Print::print(int n, int base)
+{
+  print((long) n, base);
+}
+
+void Print::print(unsigned int n, int base)
+{
+  print((unsigned long) n, base);
+}
+
+void Print::print(long n, int base)
+{
+  if (base == 0) {
+    write(n);
+  } else if (base == 10) {
+    if (n < 0) {
+      print('-');
+      n = -n;
+    }
+    printNumber(n, 10);
+  } else {
+    printNumber(n, base);
+  }
+}
+
+void Print::print(unsigned long n, int base)
+{
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+void Print::print(double n, int digits)
+{
+  printFloat(n, digits);
+}
+
+void Print::println(void)
+{
+  print('\r');
+  print('\n');  
+}
+
+void Print::println(const String &s)
+{
+  print(s);
+  println();
+}
+
+void Print::println(const char c[])
+{
+  print(c);
+  println();
+}
+
+void Print::println(char c, int base)
+{
+  print(c, base);
+  println();
+}
+
+void Print::println(unsigned char b, int base)
+{
+  print(b, base);
+  println();
+}
+
+void Print::println(int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void Print::println(unsigned int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void Print::println(long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void Print::println(unsigned long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void Print::println(double n, int digits)
+{
+  print(n, digits);
+  println();
+}
+
+// Private Methods /////////////////////////////////////////////////////////////
+
+void Print::printNumber(unsigned long n, uint8_t base)
+{
+  unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. 
+  unsigned long i = 0;
+
+  if (n == 0) {
+    print('0');
+    return;
+  } 
+
+  while (n > 0) {
+    buf[i++] = n % base;
+    n /= base;
+  }
+
+  for (; i > 0; i--)
+    print((char) (buf[i - 1] < 10 ?
+      '0' + buf[i - 1] :
+      'A' + buf[i - 1] - 10));
+}
+
+void Print::printFloat(double number, uint8_t digits) 
+{ 
+  // Handle negative numbers
+  if (number < 0.0)
+  {
+     print('-');
+     number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  for (uint8_t i=0; i<digits; ++i)
+    rounding /= 10.0;
+  
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits > 0)
+    print("."); 
+
+  // Extract digits from the remainder one at a time
+  while (digits-- > 0)
+  {
+    remainder *= 10.0;
+    int toPrint = int(remainder);
+    print(toPrint);
+    remainder -= toPrint; 
+  } 
+}

Marlin/Sanguino/cores/arduino/Print.h

@@ -0,0 +1,66 @@
+/*
+  Print.h - Base class that provides print() and println()
+  Copyright (c) 2008 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef Print_h
+#define Print_h
+
+#include <inttypes.h>
+#include <stdio.h> // for size_t
+
+#include "WString.h"
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+class Print
+{
+  private:
+    void printNumber(unsigned long, uint8_t);
+    void printFloat(double, uint8_t);
+  public:
+    virtual void write(uint8_t) = 0;
+    virtual void write(const char *str);
+    virtual void write(const uint8_t *buffer, size_t size);
+    
+    void print(const String &);
+    void print(const char[]);
+    void print(char, int = BYTE);
+    void print(unsigned char, int = BYTE);
+    void print(int, int = DEC);
+    void print(unsigned int, int = DEC);
+    void print(long, int = DEC);
+    void print(unsigned long, int = DEC);
+    void print(double, int = 2);
+
+    void println(const String &s);
+    void println(const char[]);
+    void println(char, int = BYTE);
+    void println(unsigned char, int = BYTE);
+    void println(int, int = DEC);
+    void println(unsigned int, int = DEC);
+    void println(long, int = DEC);
+    void println(unsigned long, int = DEC);
+    void println(double, int = 2);
+    void println(void);
+};
+
+#endif

Marlin/Sanguino/cores/arduino/Stream.h

@@ -0,0 +1,35 @@
+/*
+  Stream.h - base class for character-based streams.
+  Copyright (c) 2010 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef Stream_h
+#define Stream_h
+
+#include <inttypes.h>
+#include "Print.h"
+
+class Stream : public Print
+{
+  public:
+    virtual int available() = 0;
+    virtual int read() = 0;
+    virtual int peek() = 0;
+    virtual void flush() = 0;
+};
+
+#endif

Marlin/Sanguino/cores/arduino/Tone.cpp

@@ -0,0 +1,601 @@
+/* Tone.cpp
+
+  A Tone Generator Library
+
+  Written by Brett Hagman
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+Version Modified By Date     Comments
+------- ----------- -------- --------
+0001    B Hagman    09/08/02 Initial coding
+0002    B Hagman    09/08/18 Multiple pins
+0003    B Hagman    09/08/18 Moved initialization from constructor to begin()
+0004    B Hagman    09/09/26 Fixed problems with ATmega8
+0005    B Hagman    09/11/23 Scanned prescalars for best fit on 8 bit timers
+                    09/11/25 Changed pin toggle method to XOR
+                    09/11/25 Fixed timer0 from being excluded
+0006    D Mellis    09/12/29 Replaced objects with functions
+0007    M Sproul    10/08/29 Changed #ifdefs from cpu to register
+*************************************************/
+
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include "wiring.h"
+#include "pins_arduino.h"
+
+#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
+#define TCCR2A TCCR2
+#define TCCR2B TCCR2
+#define COM2A1 COM21
+#define COM2A0 COM20
+#define OCR2A OCR2
+#define TIMSK2 TIMSK
+#define OCIE2A OCIE2
+#define TIMER2_COMPA_vect TIMER2_COMP_vect
+#define TIMSK1 TIMSK
+#endif
+
+// timerx_toggle_count:
+//  > 0 - duration specified
+//  = 0 - stopped
+//  < 0 - infinitely (until stop() method called, or new play() called)
+
+#if !defined(__AVR_ATmega8__)
+volatile long timer0_toggle_count;
+volatile uint8_t *timer0_pin_port;
+volatile uint8_t timer0_pin_mask;
+#endif
+
+volatile long timer1_toggle_count;
+volatile uint8_t *timer1_pin_port;
+volatile uint8_t timer1_pin_mask;
+volatile long timer2_toggle_count;
+volatile uint8_t *timer2_pin_port;
+volatile uint8_t timer2_pin_mask;
+
+#if defined(TIMSK3)
+volatile long timer3_toggle_count;
+volatile uint8_t *timer3_pin_port;
+volatile uint8_t timer3_pin_mask;
+#endif
+
+#if defined(TIMSK4)
+volatile long timer4_toggle_count;
+volatile uint8_t *timer4_pin_port;
+volatile uint8_t timer4_pin_mask;
+#endif
+
+#if defined(TIMSK5)
+volatile long timer5_toggle_count;
+volatile uint8_t *timer5_pin_port;
+volatile uint8_t timer5_pin_mask;
+#endif
+
+
+// MLS: This does not make sense, the 3 options are the same
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+
+#define AVAILABLE_TONE_PINS 1
+
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ };
+
+#elif defined(__AVR_ATmega8__)
+
+#define AVAILABLE_TONE_PINS 1
+
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
+
+#else
+
+#define AVAILABLE_TONE_PINS 1
+
+// Leave timer 0 to last.
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ };
+
+#endif
+
+
+
+static int8_t toneBegin(uint8_t _pin)
+{
+  int8_t _timer = -1;
+
+  // if we're already using the pin, the timer should be configured.  
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == _pin) {
+      return pgm_read_byte(tone_pin_to_timer_PGM + i);
+    }
+  }
+  
+  // search for an unused timer.
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == 255) {
+      tone_pins[i] = _pin;
+      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
+      break;
+    }
+  }
+  
+  if (_timer != -1)
+  {
+    // Set timer specific stuff
+    // All timers in CTC mode
+    // 8 bit timers will require changing prescalar values,
+    // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar
+    switch (_timer)
+    {
+      #if defined(TCCR0A) && defined(TCCR0B)
+      case 0:
+        // 8 bit timer
+        TCCR0A = 0;
+        TCCR0B = 0;
+        bitWrite(TCCR0A, WGM01, 1);
+        bitWrite(TCCR0B, CS00, 1);
+        timer0_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer0_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+
+      #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12)
+      case 1:
+        // 16 bit timer
+        TCCR1A = 0;
+        TCCR1B = 0;
+        bitWrite(TCCR1B, WGM12, 1);
+        bitWrite(TCCR1B, CS10, 1);
+        timer1_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer1_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+
+      #if defined(TCCR2A) && defined(TCCR2B)
+      case 2:
+        // 8 bit timer
+        TCCR2A = 0;
+        TCCR2B = 0;
+        bitWrite(TCCR2A, WGM21, 1);
+        bitWrite(TCCR2B, CS20, 1);
+        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer2_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+
+      #if defined(TCCR3A) && defined(TCCR3B) &&  defined(TIMSK3)
+      case 3:
+        // 16 bit timer
+        TCCR3A = 0;
+        TCCR3B = 0;
+        bitWrite(TCCR3B, WGM32, 1);
+        bitWrite(TCCR3B, CS30, 1);
+        timer3_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer3_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+
+      #if defined(TCCR4A) && defined(TCCR4B) &&  defined(TIMSK4)
+      case 4:
+        // 16 bit timer
+        TCCR4A = 0;
+        TCCR4B = 0;
+        #if defined(WGM42)
+          bitWrite(TCCR4B, WGM42, 1);
+        #elif defined(CS43)
+          #warning this may not be correct
+          // atmega32u4
+          bitWrite(TCCR4B, CS43, 1);
+        #endif
+        bitWrite(TCCR4B, CS40, 1);
+        timer4_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer4_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+
+      #if defined(TCCR5A) && defined(TCCR5B) &&  defined(TIMSK5)
+      case 5:
+        // 16 bit timer
+        TCCR5A = 0;
+        TCCR5B = 0;
+        bitWrite(TCCR5B, WGM52, 1);
+        bitWrite(TCCR5B, CS50, 1);
+        timer5_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer5_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      #endif
+    }
+  }
+
+  return _timer;
+}
+
+
+
+// frequency (in hertz) and duration (in milliseconds).
+
+void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
+{
+  uint8_t prescalarbits = 0b001;
+  long toggle_count = 0;
+  uint32_t ocr = 0;
+  int8_t _timer;
+
+  _timer = toneBegin(_pin);
+
+  if (_timer >= 0)
+  {
+    // Set the pinMode as OUTPUT
+    pinMode(_pin, OUTPUT);
+    
+    // if we are using an 8 bit timer, scan through prescalars to find the best fit
+    if (_timer == 0 || _timer == 2)
+    {
+      ocr = F_CPU / frequency / 2 - 1;
+      prescalarbits = 0b001;  // ck/1: same for both timers
+      if (ocr > 255)
+      {
+        ocr = F_CPU / frequency / 2 / 8 - 1;
+        prescalarbits = 0b010;  // ck/8: same for both timers
+
+        if (_timer == 2 && ocr > 255)
+        {
+          ocr = F_CPU / frequency / 2 / 32 - 1;
+          prescalarbits = 0b011;
+        }
+
+        if (ocr > 255)
+        {
+          ocr = F_CPU / frequency / 2 / 64 - 1;
+          prescalarbits = _timer == 0 ? 0b011 : 0b100;
+
+          if (_timer == 2 && ocr > 255)
+          {
+            ocr = F_CPU / frequency / 2 / 128 - 1;
+            prescalarbits = 0b101;
+          }
+
+          if (ocr > 255)
+          {
+            ocr = F_CPU / frequency / 2 / 256 - 1;
+            prescalarbits = _timer == 0 ? 0b100 : 0b110;
+            if (ocr > 255)
+            {
+              // can't do any better than /1024
+              ocr = F_CPU / frequency / 2 / 1024 - 1;
+              prescalarbits = _timer == 0 ? 0b101 : 0b111;
+            }
+          }
+        }
+      }
+
+#if defined(TCCR0B)
+      if (_timer == 0)
+      {
+        TCCR0B = prescalarbits;
+      }
+      else
+#endif
+#if defined(TCCR2B)
+      {
+        TCCR2B = prescalarbits;
+      }
+#else
+      {
+        // dummy place holder to make the above ifdefs work
+      }
+#endif
+    }
+    else
+    {
+      // two choices for the 16 bit timers: ck/1 or ck/64
+      ocr = F_CPU / frequency / 2 - 1;
+
+      prescalarbits = 0b001;
+      if (ocr > 0xffff)
+      {
+        ocr = F_CPU / frequency / 2 / 64 - 1;
+        prescalarbits = 0b011;
+      }
+
+      if (_timer == 1)
+      {
+#if defined(TCCR1B)
+        TCCR1B = (TCCR1B & 0b11111000) | prescalarbits;
+#endif
+      }
+#if defined(TCCR3B)
+      else if (_timer == 3)
+        TCCR3B = (TCCR3B & 0b11111000) | prescalarbits;
+#endif
+#if defined(TCCR4B)
+      else if (_timer == 4)
+        TCCR4B = (TCCR4B & 0b11111000) | prescalarbits;
+#endif
+#if defined(TCCR5B)
+      else if (_timer == 5)
+        TCCR5B = (TCCR5B & 0b11111000) | prescalarbits;
+#endif
+
+    }
+    
+
+    // Calculate the toggle count
+    if (duration > 0)
+    {
+      toggle_count = 2 * frequency * duration / 1000;
+    }
+    else
+    {
+      toggle_count = -1;
+    }
+
+    // Set the OCR for the given timer,
+    // set the toggle count,
+    // then turn on the interrupts
+    switch (_timer)
+    {
+
+#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A)
+      case 0:
+        OCR0A = ocr;
+        timer0_toggle_count = toggle_count;
+        bitWrite(TIMSK0, OCIE0A, 1);
+        break;
+#endif
+
+      case 1:
+#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A)
+        OCR1A = ocr;
+        timer1_toggle_count = toggle_count;
+        bitWrite(TIMSK1, OCIE1A, 1);
+#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A)
+        // this combination is for at least the ATmega32
+        OCR1A = ocr;
+        timer1_toggle_count = toggle_count;
+        bitWrite(TIMSK, OCIE1A, 1);
+#endif
+        break;
+
+#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A)
+      case 2:
+        OCR2A = ocr;
+        timer2_toggle_count = toggle_count;
+        bitWrite(TIMSK2, OCIE2A, 1);
+        break;
+#endif
+
+#if defined(TIMSK3)
+      case 3:
+        OCR3A = ocr;
+        timer3_toggle_count = toggle_count;
+        bitWrite(TIMSK3, OCIE3A, 1);
+        break;
+#endif
+
+#if defined(TIMSK4)
+      case 4:
+        OCR4A = ocr;
+        timer4_toggle_count = toggle_count;
+        bitWrite(TIMSK4, OCIE4A, 1);
+        break;
+#endif
+
+#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A)
+      case 5:
+        OCR5A = ocr;
+        timer5_toggle_count = toggle_count;
+        bitWrite(TIMSK5, OCIE5A, 1);
+        break;
+#endif
+
+    }
+  }
+}
+
+
+// XXX: this function only works properly for timer 2 (the only one we use
+// currently).  for the others, it should end the tone, but won't restore
+// proper PWM functionality for the timer.
+void disableTimer(uint8_t _timer)
+{
+  switch (_timer)
+  {
+    case 0:
+      #if defined(TIMSK0)
+        TIMSK0 = 0;
+      #elif defined(TIMSK)
+        TIMSK = 0; // atmega32
+      #endif
+      break;
+
+#if defined(TIMSK1) && defined(OCIE1A)
+    case 1:
+      bitWrite(TIMSK1, OCIE1A, 0);
+      break;
+#endif
+
+    case 2:
+      #if defined(TIMSK2) && defined(OCIE2A)
+        bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
+      #endif
+      #if defined(TCCR2A) && defined(WGM20)
+        TCCR2A = (1 << WGM20);
+      #endif
+      #if defined(TCCR2B) && defined(CS22)
+        TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
+      #endif
+      #if defined(OCR2A)
+        OCR2A = 0;
+      #endif
+      break;
+
+#if defined(TIMSK3)
+    case 3:
+      TIMSK3 = 0;
+      break;
+#endif
+
+#if defined(TIMSK4)
+    case 4:
+      TIMSK4 = 0;
+      break;
+#endif
+
+#if defined(TIMSK5)
+    case 5:
+      TIMSK5 = 0;
+      break;
+#endif
+  }
+}
+
+
+void noTone(uint8_t _pin)
+{
+  int8_t _timer = -1;
+  
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == _pin) {
+      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
+      tone_pins[i] = 255;
+    }
+  }
+  
+  disableTimer(_timer);
+
+  digitalWrite(_pin, 0);
+}
+
+#if 0
+#if !defined(__AVR_ATmega8__)
+ISR(TIMER0_COMPA_vect)
+{
+  if (timer0_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer0_pin_port ^= timer0_pin_mask;
+
+    if (timer0_toggle_count > 0)
+      timer0_toggle_count--;
+  }
+  else
+  {
+    disableTimer(0);
+    *timer0_pin_port &= ~(timer0_pin_mask);  // keep pin low after stop
+  }
+}
+#endif
+
+
+ISR(TIMER1_COMPA_vect)
+{
+  if (timer1_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer1_pin_port ^= timer1_pin_mask;
+
+    if (timer1_toggle_count > 0)
+      timer1_toggle_count--;
+  }
+  else
+  {
+    disableTimer(1);
+    *timer1_pin_port &= ~(timer1_pin_mask);  // keep pin low after stop
+  }
+}
+#endif
+
+
+ISR(TIMER2_COMPA_vect)
+{
+
+  if (timer2_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer2_pin_port ^= timer2_pin_mask;
+
+    if (timer2_toggle_count > 0)
+      timer2_toggle_count--;
+  }
+  else
+  {
+    // need to call noTone() so that the tone_pins[] entry is reset, so the
+    // timer gets initialized next time we call tone().
+    // XXX: this assumes timer 2 is always the first one used.
+    noTone(tone_pins[0]);
+//    disableTimer(2);
+//    *timer2_pin_port &= ~(timer2_pin_mask);  // keep pin low after stop
+  }
+}
+
+
+
+//#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#if 0
+
+ISR(TIMER3_COMPA_vect)
+{
+  if (timer3_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer3_pin_port ^= timer3_pin_mask;
+
+    if (timer3_toggle_count > 0)
+      timer3_toggle_count--;
+  }
+  else
+  {
+    disableTimer(3);
+    *timer3_pin_port &= ~(timer3_pin_mask);  // keep pin low after stop
+  }
+}
+
+ISR(TIMER4_COMPA_vect)
+{
+  if (timer4_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer4_pin_port ^= timer4_pin_mask;
+
+    if (timer4_toggle_count > 0)
+      timer4_toggle_count--;
+  }
+  else
+  {
+    disableTimer(4);
+    *timer4_pin_port &= ~(timer4_pin_mask);  // keep pin low after stop
+  }
+}
+
+ISR(TIMER5_COMPA_vect)
+{
+  if (timer5_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer5_pin_port ^= timer5_pin_mask;
+
+    if (timer5_toggle_count > 0)
+      timer5_toggle_count--;
+  }
+  else
+  {
+    disableTimer(5);
+    *timer5_pin_port &= ~(timer5_pin_mask);  // keep pin low after stop
+  }
+}
+
+#endif

Marlin/Sanguino/cores/arduino/WCharacter.h

@@ -0,0 +1,168 @@
+/*
+ WCharacter.h - Character utility functions for Wiring & Arduino
+ Copyright (c) 2010 Hernando Barragan.  All right reserved.
+ 
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+ 
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef Character_h
+#define Character_h
+
+#include <ctype.h>
+
+// WCharacter.h prototypes
+inline boolean isAlphaNumeric(int c) __attribute__((always_inline));
+inline boolean isAlpha(int c) __attribute__((always_inline));
+inline boolean isAscii(int c) __attribute__((always_inline));
+inline boolean isWhitespace(int c) __attribute__((always_inline));
+inline boolean isControl(int c) __attribute__((always_inline));
+inline boolean isDigit(int c) __attribute__((always_inline));
+inline boolean isGraph(int c) __attribute__((always_inline));
+inline boolean isLowerCase(int c) __attribute__((always_inline));
+inline boolean isPrintable(int c) __attribute__((always_inline));
+inline boolean isPunct(int c) __attribute__((always_inline));
+inline boolean isSpace(int c) __attribute__((always_inline));
+inline boolean isUpperCase(int c) __attribute__((always_inline));
+inline boolean isHexadecimalDigit(int c) __attribute__((always_inline));
+inline int toAscii(int c) __attribute__((always_inline));
+inline int toLowerCase(int c) __attribute__((always_inline));
+inline int toUpperCase(int c)__attribute__((always_inline));
+
+
+// Checks for an alphanumeric character. 
+// It is equivalent to (isalpha(c) || isdigit(c)).
+inline boolean isAlphaNumeric(int c) 
+{
+  return ( isalnum(c) == 0 ? false : true);
+}
+
+
+// Checks for an alphabetic character. 
+// It is equivalent to (isupper(c) || islower(c)).
+inline boolean isAlpha(int c)
+{
+  return ( isalpha(c) == 0 ? false : true);
+}
+
+
+// Checks whether c is a 7-bit unsigned char value 
+// that fits into the ASCII character set.
+inline boolean isAscii(int c)
+{
+  return ( isascii (c) == 0 ? false : true);
+}
+
+
+// Checks for a blank character, that is, a space or a tab.
+inline boolean isWhitespace(int c)
+{
+  return ( isblank (c) == 0 ? false : true);
+}
+
+
+// Checks for a control character.
+inline boolean isControl(int c)
+{
+  return ( iscntrl (c) == 0 ? false : true);
+}
+
+
+// Checks for a digit (0 through 9).
+inline boolean isDigit(int c)
+{
+  return ( isdigit (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character except space.
+inline boolean isGraph(int c)
+{
+  return ( isgraph (c) == 0 ? false : true);
+}
+
+
+// Checks for a lower-case character.
+inline boolean isLowerCase(int c)
+{
+  return (islower (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character including space.
+inline boolean isPrintable(int c)
+{
+  return ( isprint (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character which is not a space 
+// or an alphanumeric character.
+inline boolean isPunct(int c)
+{
+  return ( ispunct (c) == 0 ? false : true);
+}
+
+
+// Checks for white-space characters. For the avr-libc library, 
+// these are: space, formfeed ('\f'), newline ('\n'), carriage 
+// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v').
+inline boolean isSpace(int c)
+{
+  return ( isspace (c) == 0 ? false : true);
+}
+
+
+// Checks for an uppercase letter.
+inline boolean isUpperCase(int c)
+{
+  return ( isupper (c) == 0 ? false : true);
+}
+
+
+// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 
+// 8 9 a b c d e f A B C D E F.
+inline boolean isHexadecimalDigit(int c)
+{
+  return ( isxdigit (c) == 0 ? false : true);
+}
+
+
+// Converts c to a 7-bit unsigned char value that fits into the 
+// ASCII character set, by clearing the high-order bits.
+inline int toAscii(int c)
+{
+  return toascii (c);
+}
+
+
+// Warning:
+// Many people will be unhappy if you use this function. 
+// This function will convert accented letters into random 
+// characters.
+
+// Converts the letter c to lower case, if possible.
+inline int toLowerCase(int c)
+{
+  return tolower (c);
+}
+
+
+// Converts the letter c to upper case, if possible.
+inline int toUpperCase(int c)
+{
+  return toupper (c);
+}
+
+#endif

Marlin/Sanguino/cores/arduino/WConstants.h

@@ -0,0 +1 @@
+#include "wiring.h"

Marlin/Sanguino/cores/arduino/WInterrupts.c

@@ -0,0 +1,249 @@
+/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
+/*
+  Part of the Wiring project - http://wiring.uniandes.edu.co
+
+  Copyright (c) 2004-05 Hernando Barragan
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+  
+  Modified 24 November 2006 by David A. Mellis
+  Modified 1 August 2010 by Mark Sproul
+*/
+
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <stdio.h>
+
+#include "WConstants.h"
+#include "wiring_private.h"
+
+volatile static voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS];
+// volatile static voidFuncPtr twiIntFunc;
+
+void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
+  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
+    intFunc[interruptNum] = userFunc;
+    
+    // Configure the interrupt mode (trigger on low input, any change, rising
+    // edge, or falling edge).  The mode constants were chosen to correspond
+    // to the configuration bits in the hardware register, so we simply shift
+    // the mode into place.
+      
+    // Enable the interrupt.
+      
+    switch (interruptNum) {
+#if defined(EICRA) && defined(EICRB) && defined(EIMSK)
+    case 2:
+      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+      EIMSK |= (1 << INT0);
+      break;
+    case 3:
+      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+      EIMSK |= (1 << INT1);
+      break;
+    case 4:
+      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
+      EIMSK |= (1 << INT2);
+      break;
+    case 5:
+      EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
+      EIMSK |= (1 << INT3);
+      break;
+    case 0:
+      EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
+      EIMSK |= (1 << INT4);
+      break;
+    case 1:
+      EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
+      EIMSK |= (1 << INT5);
+      break;
+    case 6:
+      EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
+      EIMSK |= (1 << INT6);
+      break;
+    case 7:
+      EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
+      EIMSK |= (1 << INT7);
+      break;
+#else
+    case 0:
+    #if defined(EICRA) && defined(ISC00) && defined(EIMSK)
+      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+      EIMSK |= (1 << INT0);
+    #elif defined(MCUCR) && defined(ISC00) && defined(GICR)
+      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+      GICR |= (1 << INT0);
+    #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK)
+      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+      GIMSK |= (1 << INT0);
+    #else
+      #error attachInterrupt not finished for this CPU (case 0)
+    #endif
+      break;
+
+    case 1:
+    #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK)
+      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+      EIMSK |= (1 << INT1);
+    #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR)
+      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+      GICR |= (1 << INT1);
+    #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK)
+      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+      GIMSK |= (1 << INT1);
+    #else
+      #warning attachInterrupt may need some more work for this cpu (case 1)
+    #endif
+      break;
+#endif
+    }
+  }
+}
+
+void detachInterrupt(uint8_t interruptNum) {
+  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
+    // Disable the interrupt.  (We can't assume that interruptNum is equal
+    // to the number of the EIMSK bit to clear, as this isn't true on the 
+    // ATmega8.  There, INT0 is 6 and INT1 is 7.)
+    switch (interruptNum) {
+#if defined(EICRA) && defined(EICRB) && defined(EIMSK)
+    case 2:
+      EIMSK &= ~(1 << INT0);
+      break;
+    case 3:
+      EIMSK &= ~(1 << INT1);
+      break;
+    case 4:
+      EIMSK &= ~(1 << INT2);
+      break;
+    case 5:
+      EIMSK &= ~(1 << INT3);
+      break;
+    case 0:
+      EIMSK &= ~(1 << INT4);
+      break;
+    case 1:
+      EIMSK &= ~(1 << INT5);
+      break;
+    case 6:
+      EIMSK &= ~(1 << INT6);
+      break;
+    case 7:
+      EIMSK &= ~(1 << INT7);
+      break;
+#else
+    case 0:
+    #if defined(EIMSK) && defined(INT0)
+      EIMSK &= ~(1 << INT0);
+    #elif defined(GICR) && defined(ISC00)
+      GICR &= ~(1 << INT0); // atmega32
+    #elif defined(GIMSK) && defined(INT0)
+      GIMSK &= ~(1 << INT0);
+    #else
+      #error detachInterrupt not finished for this cpu
+    #endif
+      break;
+
+    case 1:
+    #if defined(EIMSK) && defined(INT1)
+      EIMSK &= ~(1 << INT1);
+    #elif defined(GICR) && defined(INT1)
+      GICR &= ~(1 << INT1); // atmega32
+    #elif defined(GIMSK) && defined(INT1)
+      GIMSK &= ~(1 << INT1);
+    #else
+      #warning detachInterrupt may need some more work for this cpu (case 1)
+    #endif
+      break;
+#endif
+    }
+      
+    intFunc[interruptNum] = 0;
+  }
+}
+
+/*
+void attachInterruptTwi(void (*userFunc)(void) ) {
+  twiIntFunc = userFunc;
+}
+*/
+
+#if defined(EICRA) && defined(EICRB)
+
+SIGNAL(INT0_vect) {
+  if(intFunc[EXTERNAL_INT_2])
+    intFunc[EXTERNAL_INT_2]();
+}
+
+SIGNAL(INT1_vect) {
+  if(intFunc[EXTERNAL_INT_3])
+    intFunc[EXTERNAL_INT_3]();
+}
+
+SIGNAL(INT2_vect) {
+  if(intFunc[EXTERNAL_INT_4])
+    intFunc[EXTERNAL_INT_4]();
+}
+
+SIGNAL(INT3_vect) {
+  if(intFunc[EXTERNAL_INT_5])
+    intFunc[EXTERNAL_INT_5]();
+}
+
+SIGNAL(INT4_vect) {
+  if(intFunc[EXTERNAL_INT_0])
+    intFunc[EXTERNAL_INT_0]();
+}
+
+SIGNAL(INT5_vect) {
+  if(intFunc[EXTERNAL_INT_1])
+    intFunc[EXTERNAL_INT_1]();
+}
+
+SIGNAL(INT6_vect) {
+  if(intFunc[EXTERNAL_INT_6])
+    intFunc[EXTERNAL_INT_6]();
+}
+
+SIGNAL(INT7_vect) {
+  if(intFunc[EXTERNAL_INT_7])
+    intFunc[EXTERNAL_INT_7]();
+}
+
+#else
+
+SIGNAL(INT0_vect) {
+  if(intFunc[EXTERNAL_INT_0])
+    intFunc[EXTERNAL_INT_0]();
+}
+
+SIGNAL(INT1_vect) {
+  if(intFunc[EXTERNAL_INT_1])
+    intFunc[EXTERNAL_INT_1]();
+}
+
+#endif
+
+/*
+SIGNAL(SIG_2WIRE_SERIAL) {
+  if(twiIntFunc)
+    twiIntFunc();
+}
+*/
+

Marlin/Sanguino/cores/arduino/WMath.cpp

@@ -0,0 +1,60 @@
+/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
+/*
+  Part of the Wiring project - http://wiring.org.co
+  Copyright (c) 2004-06 Hernando Barragan
+  Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/
+  
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+  
+  $Id$
+*/
+
+extern "C" {
+  #include "stdlib.h"
+}
+
+void randomSeed(unsigned int seed)
+{
+  if (seed != 0) {
+    srandom(seed);
+  }
+}
+
+long random(long howbig)
+{
+  if (howbig == 0) {
+    return 0;
+  }
+  return random() % howbig;
+}
+
+long random(long howsmall, long howbig)
+{
+  if (howsmall >= howbig) {
+    return howsmall;
+  }
+  long diff = howbig - howsmall;
+  return random(diff) + howsmall;
+}
+
+long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+unsigned int makeWord(unsigned int w) { return w; }
+unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; }

Marlin/Sanguino/cores/arduino/WProgram.h

@@ -0,0 +1,63 @@
+#ifndef WProgram_h
+#define WProgram_h
+
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <avr/interrupt.h>
+
+#include "wiring.h"
+
+#ifdef __cplusplus
+#include "WCharacter.h"
+#include "WString.h"
+#include "HardwareSerial.h"
+
+uint16_t makeWord(uint16_t w);
+uint16_t makeWord(byte h, byte l);
+
+#define word(...) makeWord(__VA_ARGS__)
+
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
+
+void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0);
+void noTone(uint8_t _pin);
+
+// WMath prototypes
+long random(long);
+long random(long, long);
+void randomSeed(unsigned int);
+long map(long, long, long, long, long);
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+const static uint8_t A0 = 54;
+const static uint8_t A1 = 55;
+const static uint8_t A2 = 56;
+const static uint8_t A3 = 57;
+const static uint8_t A4 = 58;
+const static uint8_t A5 = 59;
+const static uint8_t A6 = 60;
+const static uint8_t A7 = 61;
+const static uint8_t A8 = 62;
+const static uint8_t A9 = 63;
+const static uint8_t A10 = 64;
+const static uint8_t A11 = 65;
+const static uint8_t A12 = 66;
+const static uint8_t A13 = 67;
+const static uint8_t A14 = 68;
+const static uint8_t A15 = 69;
+#else
+const static uint8_t A0 = 14;
+const static uint8_t A1 = 15;
+const static uint8_t A2 = 16;
+const static uint8_t A3 = 17;
+const static uint8_t A4 = 18;
+const static uint8_t A5 = 19;
+const static uint8_t A6 = 20;
+const static uint8_t A7 = 21;
+#endif
+
+#endif
+
+#endif

Marlin/Sanguino/cores/arduino/WString.cpp

@@ -0,0 +1,443 @@
+/*
+  WString.cpp - String library for Wiring & Arduino
+  Copyright (c) 2009-10 Hernando Barragan.  All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include <stdlib.h>
+#include "WProgram.h"
+#include "WString.h"
+
+
+String::String( const char *value )
+{
+  if ( value == NULL )
+    value = "";
+  getBuffer( _length = strlen( value ) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, value );
+}
+
+String::String( const String &value )
+{
+  getBuffer( _length = value._length );
+  if ( _buffer != NULL )
+    strcpy( _buffer, value._buffer );
+}
+
+String::String( const char value )
+{
+  _length = 1;
+  getBuffer(1);
+  if ( _buffer != NULL ) {
+    _buffer[0] = value;
+    _buffer[1] = 0;
+  }
+}
+
+String::String( const unsigned char value )
+{
+  _length = 1;
+  getBuffer(1);
+  if ( _buffer != NULL) {
+    _buffer[0] = value;
+    _buffer[1] = 0;
+  }
+}
+
+String::String( const int value, const int base )
+{
+  char buf[33];   
+  itoa((signed long)value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const unsigned int value, const int base )
+{
+  char buf[33];   
+  ultoa((unsigned long)value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const long value, const int base )
+{
+  char buf[33];   
+  ltoa(value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const unsigned long value, const int base )
+{
+  char buf[33];   
+  ultoa(value, buf, 10);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+char String::charAt( unsigned int loc ) const
+{
+  return operator[]( loc );
+}
+
+void String::setCharAt( unsigned int loc, const char aChar ) 
+{
+  if(_buffer == NULL) return;
+  if(_length > loc) {
+    _buffer[loc] = aChar;
+  }
+}
+
+int String::compareTo( const String &s2 ) const
+{
+  return strcmp( _buffer, s2._buffer );
+}
+
+const String & String::concat( const String &s2 )
+{
+  return (*this) += s2;
+}
+
+const String & String::operator=( const String &rhs )
+{
+  if ( this == &rhs )
+    return *this;
+
+  if ( rhs._length > _length )
+  {
+    free(_buffer);
+    getBuffer( rhs._length );
+  }
+  
+  if ( _buffer != NULL ) {
+    _length = rhs._length;
+    strcpy( _buffer, rhs._buffer );
+  }
+  return *this;
+}
+
+//const String & String::operator+=( const char aChar )
+//{
+//  if ( _length == _capacity )
+//    doubleBuffer();
+//
+//  _buffer[ _length++ ] = aChar;
+//  _buffer[ _length ] = '\0';
+//  return *this;
+//}
+
+const String & String::operator+=( const String &other )
+{
+  _length += other._length;
+  if ( _length > _capacity )
+  {
+    char *temp = (char *)realloc(_buffer, _length + 1);
+    if ( temp != NULL ) {
+      _buffer = temp;
+      _capacity = _length;
+    } else {
+      _length -= other._length;
+      return *this;
+    }
+  }
+  strcat( _buffer, other._buffer );
+  return *this;
+}
+
+
+int String::operator==( const String &rhs ) const
+{
+  return ( _length == rhs._length && strcmp( _buffer, rhs._buffer ) == 0 );
+}
+
+int String::operator!=( const String &rhs ) const
+{
+  return ( _length != rhs.length() || strcmp( _buffer, rhs._buffer ) != 0 );
+}
+
+int String::operator<( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) < 0;
+}
+
+int String::operator>( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) > 0;
+}
+
+int String::operator<=( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) <= 0;
+}
+
+int String::operator>=( const String & rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) >= 0;
+}
+
+char & String::operator[]( unsigned int index )
+{
+  static char dummy_writable_char;
+  if (index >= _length || !_buffer) {
+    dummy_writable_char = 0;
+    return dummy_writable_char;
+  }
+  return _buffer[ index ];
+}
+
+char String::operator[]( unsigned int index ) const
+{
+  // need to check for valid index, to do later
+  return _buffer[ index ];
+}
+
+boolean String::endsWith( const String &s2 ) const
+{
+  if ( _length < s2._length )
+    return 0;
+
+  return strcmp( &_buffer[ _length - s2._length], s2._buffer ) == 0;
+}
+
+boolean String::equals( const String &s2 ) const
+{
+  return ( _length == s2._length && strcmp( _buffer,s2._buffer ) == 0 );
+}
+
+boolean String::equalsIgnoreCase( const String &s2 ) const
+{
+  if ( this == &s2 )
+    return true; //1;
+  else if ( _length != s2._length )
+    return false; //0;
+
+  return strcmp(toLowerCase()._buffer, s2.toLowerCase()._buffer) == 0;
+}
+
+String String::replace( char findChar, char replaceChar )
+{
+  if ( _buffer == NULL ) return *this;
+  String theReturn = _buffer;
+  char* temp = theReturn._buffer;
+  while( (temp = strchr( temp, findChar )) != 0 )
+    *temp = replaceChar;
+
+  return theReturn;
+}
+
+String String::replace( const String& match, const String& replace )
+{
+  if ( _buffer == NULL ) return *this;
+  String temp = _buffer, newString;
+
+  int loc;
+  while ( (loc = temp.indexOf( match )) != -1 )
+  {
+    newString += temp.substring( 0, loc );
+    newString += replace;
+    temp = temp.substring( loc + match._length );
+  }
+  newString += temp;  
+  return newString;
+}
+
+int String::indexOf( char temp ) const
+{
+  return indexOf( temp, 0 );
+}
+
+int String::indexOf( char ch, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  const char* temp = strchr( &_buffer[fromIndex], ch );
+  if ( temp == NULL )
+    return -1;
+
+  return temp - _buffer;
+}
+
+int String::indexOf( const String &s2 ) const
+{
+  return indexOf( s2, 0 );
+}
+
+int String::indexOf( const String &s2, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  const char *theFind = strstr( &_buffer[ fromIndex ], s2._buffer );
+
+  if ( theFind == NULL )
+    return -1;
+
+  return theFind - _buffer; // pointer subtraction
+}
+
+int String::lastIndexOf( char theChar ) const
+{
+  return lastIndexOf( theChar, _length - 1 );
+}
+
+int String::lastIndexOf( char ch, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  char tempchar = _buffer[fromIndex + 1];
+  _buffer[fromIndex + 1] = '\0';
+  char* temp = strrchr( _buffer, ch );
+  _buffer[fromIndex + 1] = tempchar;
+
+  if ( temp == NULL )
+    return -1;
+
+  return temp - _buffer;
+}
+
+int String::lastIndexOf( const String &s2 ) const
+{
+  return lastIndexOf( s2, _length - s2._length );
+}
+
+int String::lastIndexOf( const String &s2, unsigned int fromIndex ) const
+{
+  // check for empty strings
+  if ( s2._length == 0 || s2._length - 1 > fromIndex || fromIndex >= _length )
+    return -1;
+
+  // matching first character
+  char temp = s2[ 0 ];
+
+  for ( int i = fromIndex; i >= 0; i-- )
+  {
+    if ( _buffer[ i ] == temp && (*this).substring( i, i + s2._length ).equals( s2 ) )
+    return i;
+  }
+  return -1;
+}
+
+boolean String::startsWith( const String &s2 ) const
+{
+  if ( _length < s2._length )
+    return 0;
+
+  return startsWith( s2, 0 );
+}
+
+boolean String::startsWith( const String &s2, unsigned int offset ) const
+{
+  if ( offset > _length - s2._length )
+    return 0;
+
+  return strncmp( &_buffer[offset], s2._buffer, s2._length ) == 0;
+}
+
+String String::substring( unsigned int left ) const
+{
+  return substring( left, _length );
+}
+
+String String::substring( unsigned int left, unsigned int right ) const
+{
+  if ( left > right )
+  {
+    int temp = right;
+    right = left;
+    left = temp;
+  }
+
+  if ( right > _length )
+  {
+    right = _length;
+  } 
+
+  char temp = _buffer[ right ];  // save the replaced character
+  _buffer[ right ] = '\0';	
+  String outPut = ( _buffer + left );  // pointer arithmetic
+  _buffer[ right ] = temp;  //restore character
+  return outPut;
+}
+
+String String::toLowerCase() const
+{
+  String temp = _buffer;
+
+  for ( unsigned int i = 0; i < _length; i++ )
+    temp._buffer[ i ] = (char)tolower( temp._buffer[ i ] );
+  return temp;
+}
+
+String String::toUpperCase() const
+{
+  String temp = _buffer;
+
+  for ( unsigned int i = 0; i < _length; i++ )
+    temp._buffer[ i ] = (char)toupper( temp._buffer[ i ] );
+  return temp;
+}
+
+String String::trim() const
+{
+  if ( _buffer == NULL ) return *this;
+  String temp = _buffer;
+  unsigned int i,j;
+
+  for ( i = 0; i < _length; i++ )
+  {
+    if ( !isspace(_buffer[i]) )
+      break;
+  }
+
+  for ( j = temp._length - 1; j > i; j-- )
+  {
+    if ( !isspace(_buffer[j]) )
+      break;
+  }
+
+  return temp.substring( i, j + 1);
+}
+
+void String::getBytes(unsigned char *buf, unsigned int bufsize)
+{
+  if (!bufsize || !buf) return;
+  unsigned int len = bufsize - 1;
+  if (len > _length) len = _length;
+  strncpy((char *)buf, _buffer, len);
+  buf[len] = 0;
+}
+
+void String::toCharArray(char *buf, unsigned int bufsize)
+{
+  if (!bufsize || !buf) return;
+  unsigned int len = bufsize - 1;
+  if (len > _length) len = _length;
+  strncpy(buf, _buffer, len);
+  buf[len] = 0;
+}
+
+
+long String::toInt() {
+  return atol(_buffer);
+}

Marlin/Sanguino/cores/arduino/WString.h

@@ -0,0 +1,112 @@
+/*
+  WString.h - String library for Wiring & Arduino
+  Copyright (c) 2009-10 Hernando Barragan.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef String_h
+#define String_h
+
+//#include "WProgram.h"
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+
+class String
+{
+  public:
+    // constructors
+    String( const char *value = "" );
+    String( const String &value );
+    String( const char );
+    String( const unsigned char );
+    String( const int, const int base=10);
+    String( const unsigned int, const int base=10 );
+    String( const long, const int base=10 );
+    String( const unsigned long, const int base=10 );
+    ~String() { free(_buffer); _length = _capacity = 0;}     //added _length = _capacity = 0;
+
+    // operators
+    const String & operator = ( const String &rhs );
+    const String & operator +=( const String &rhs );
+    //const String & operator +=( const char );
+    int operator ==( const String &rhs ) const;
+    int	operator !=( const String &rhs ) const;
+    int	operator < ( const String &rhs ) const;
+    int	operator > ( const String &rhs ) const;
+    int	operator <=( const String &rhs ) const;
+    int	operator >=( const String &rhs ) const;
+    char operator []( unsigned int index ) const;
+    char& operator []( unsigned int index );
+    //operator const char *() const { return _buffer; }
+    
+    // general methods
+    char charAt( unsigned int index ) const;
+    int	compareTo( const String &anotherString ) const;
+    unsigned char endsWith( const String &suffix ) const;
+    unsigned char equals( const String &anObject ) const;
+    unsigned char equalsIgnoreCase( const String &anotherString ) const;
+    int	indexOf( char ch ) const;
+    int	indexOf( char ch, unsigned int fromIndex ) const;
+    int	indexOf( const String &str ) const;
+    int	indexOf( const String &str, unsigned int fromIndex ) const;
+    int	lastIndexOf( char ch ) const;
+    int	lastIndexOf( char ch, unsigned int fromIndex ) const;
+    int	lastIndexOf( const String &str ) const;
+    int	lastIndexOf( const String &str, unsigned int fromIndex ) const;
+    const unsigned int length( ) const { return _length; }
+    void setCharAt(unsigned int index, const char ch);
+    unsigned char startsWith( const String &prefix ) const;
+    unsigned char startsWith( const String &prefix, unsigned int toffset ) const;
+    String substring( unsigned int beginIndex ) const;
+    String substring( unsigned int beginIndex, unsigned int endIndex ) const;
+    String toLowerCase( ) const;
+    String toUpperCase( ) const;
+    String trim( ) const;
+    void getBytes(unsigned char *buf, unsigned int bufsize);
+    void toCharArray(char *buf, unsigned int bufsize);
+    long toInt( );
+    const String& concat( const String &str );
+    String replace( char oldChar, char newChar );
+    String replace( const String& match, const String& replace );
+    friend String operator + ( String lhs, const String &rhs );
+
+  protected:
+    char *_buffer;	     // the actual char array
+    unsigned int _capacity;  // the array length minus one (for the '\0')
+    unsigned int _length;    // the String length (not counting the '\0')
+
+    void getBuffer(unsigned int maxStrLen);
+
+  private:
+
+};
+
+// allocate buffer space
+inline void String::getBuffer(unsigned int maxStrLen)
+{
+  _capacity = maxStrLen;
+  _buffer = (char *) malloc(_capacity + 1);
+  if (_buffer == NULL) _length = _capacity = 0;
+}
+
+inline String operator+( String lhs, const String &rhs )
+{
+  return lhs += rhs;
+}
+
+
+#endif

Marlin/Sanguino/cores/arduino/binary.h

@@ -0,0 +1,515 @@
+#ifndef Binary_h
+#define Binary_h
+
+#define B0 0
+#define B00 0
+#define B000 0
+#define B0000 0
+#define B00000 0
+#define B000000 0
+#define B0000000 0
+#define B00000000 0
+#define B1 1
+#define B01 1
+#define B001 1
+#define B0001 1
+#define B00001 1
+#define B000001 1
+#define B0000001 1
+#define B00000001 1
+#define B10 2
+#define B010 2
+#define B0010 2
+#define B00010 2
+#define B000010 2
+#define B0000010 2
+#define B00000010 2
+#define B11 3
+#define B011 3
+#define B0011 3
+#define B00011 3
+#define B000011 3
+#define B0000011 3
+#define B00000011 3
+#define B100 4
+#define B0100 4
+#define B00100 4
+#define B000100 4
+#define B0000100 4
+#define B00000100 4
+#define B101 5
+#define B0101 5
+#define B00101 5
+#define B000101 5
+#define B0000101 5
+#define B00000101 5
+#define B110 6
+#define B0110 6
+#define B00110 6
+#define B000110 6
+#define B0000110 6
+#define B00000110 6
+#define B111 7
+#define B0111 7
+#define B00111 7
+#define B000111 7
+#define B0000111 7
+#define B00000111 7
+#define B1000 8
+#define B01000 8
+#define B001000 8
+#define B0001000 8
+#define B00001000 8
+#define B1001 9
+#define B01001 9
+#define B001001 9
+#define B0001001 9
+#define B00001001 9
+#define B1010 10
+#define B01010 10
+#define B001010 10
+#define B0001010 10
+#define B00001010 10
+#define B1011 11
+#define B01011 11
+#define B001011 11
+#define B0001011 11
+#define B00001011 11
+#define B1100 12
+#define B01100 12
+#define B001100 12
+#define B0001100 12
+#define B00001100 12
+#define B1101 13
+#define B01101 13
+#define B001101 13
+#define B0001101 13
+#define B00001101 13
+#define B1110 14
+#define B01110 14
+#define B001110 14
+#define B0001110 14
+#define B00001110 14
+#define B1111 15
+#define B01111 15
+#define B001111 15
+#define B0001111 15
+#define B00001111 15
+#define B10000 16
+#define B010000 16
+#define B0010000 16
+#define B00010000 16
+#define B10001 17
+#define B010001 17
+#define B0010001 17
+#define B00010001 17
+#define B10010 18
+#define B010010 18
+#define B0010010 18
+#define B00010010 18
+#define B10011 19
+#define B010011 19
+#define B0010011 19
+#define B00010011 19
+#define B10100 20
+#define B010100 20
+#define B0010100 20
+#define B00010100 20
+#define B10101 21
+#define B010101 21
+#define B0010101 21
+#define B00010101 21
+#define B10110 22
+#define B010110 22
+#define B0010110 22
+#define B00010110 22
+#define B10111 23
+#define B010111 23
+#define B0010111 23
+#define B00010111 23
+#define B11000 24
+#define B011000 24
+#define B0011000 24
+#define B00011000 24
+#define B11001 25
+#define B011001 25
+#define B0011001 25
+#define B00011001 25
+#define B11010 26
+#define B011010 26
+#define B0011010 26
+#define B00011010 26
+#define B11011 27
+#define B011011 27
+#define B0011011 27
+#define B00011011 27
+#define B11100 28
+#define B011100 28
+#define B0011100 28
+#define B00011100 28
+#define B11101 29
+#define B011101 29
+#define B0011101 29
+#define B00011101 29
+#define B11110 30
+#define B011110 30
+#define B0011110 30
+#define B00011110 30
+#define B11111 31
+#define B011111 31
+#define B0011111 31
+#define B00011111 31
+#define B100000 32
+#define B0100000 32
+#define B00100000 32
+#define B100001 33
+#define B0100001 33
+#define B00100001 33
+#define B100010 34
+#define B0100010 34
+#define B00100010 34
+#define B100011 35
+#define B0100011 35
+#define B00100011 35
+#define B100100 36
+#define B0100100 36
+#define B00100100 36
+#define B100101 37
+#define B0100101 37
+#define B00100101 37
+#define B100110 38
+#define B0100110 38
+#define B00100110 38
+#define B100111 39
+#define B0100111 39
+#define B00100111 39
+#define B101000 40
+#define B0101000 40
+#define B00101000 40
+#define B101001 41
+#define B0101001 41
+#define B00101001 41
+#define B101010 42
+#define B0101010 42
+#define B00101010 42
+#define B101011 43
+#define B0101011 43
+#define B00101011 43
+#define B101100 44
+#define B0101100 44
+#define B00101100 44
+#define B101101 45
+#define B0101101 45
+#define B00101101 45
+#define B101110 46
+#define B0101110 46
+#define B00101110 46
+#define B101111 47
+#define B0101111 47
+#define B00101111 47
+#define B110000 48
+#define B0110000 48
+#define B00110000 48
+#define B110001 49
+#define B0110001 49
+#define B00110001 49
+#define B110010 50
+#define B0110010 50
+#define B00110010 50
+#define B110011 51
+#define B0110011 51
+#define B00110011 51
+#define B110100 52
+#define B0110100 52
+#define B00110100 52
+#define B110101 53
+#define B0110101 53
+#define B00110101 53
+#define B110110 54
+#define B0110110 54
+#define B00110110 54
+#define B110111 55
+#define B0110111 55
+#define B00110111 55
+#define B111000 56
+#define B0111000 56
+#define B00111000 56
+#define B111001 57
+#define B0111001 57
+#define B00111001 57
+#define B111010 58
+#define B0111010 58
+#define B00111010 58
+#define B111011 59
+#define B0111011 59
+#define B00111011 59
+#define B111100 60
+#define B0111100 60
+#define B00111100 60
+#define B111101 61
+#define B0111101 61
+#define B00111101 61
+#define B111110 62
+#define B0111110 62
+#define B00111110 62
+#define B111111 63
+#define B0111111 63
+#define B00111111 63
+#define B1000000 64
+#define B01000000 64
+#define B1000001 65
+#define B01000001 65
+#define B1000010 66
+#define B01000010 66
+#define B1000011 67
+#define B01000011 67
+#define B1000100 68
+#define B01000100 68
+#define B1000101 69
+#define B01000101 69
+#define B1000110 70
+#define B01000110 70
+#define B1000111 71
+#define B01000111 71
+#define B1001000 72
+#define B01001000 72
+#define B1001001 73
+#define B01001001 73
+#define B1001010 74
+#define B01001010 74
+#define B1001011 75
+#define B01001011 75
+#define B1001100 76
+#define B01001100 76
+#define B1001101 77
+#define B01001101 77
+#define B1001110 78
+#define B01001110 78
+#define B1001111 79
+#define B01001111 79
+#define B1010000 80
+#define B01010000 80
+#define B1010001 81
+#define B01010001 81
+#define B1010010 82
+#define B01010010 82
+#define B1010011 83
+#define B01010011 83
+#define B1010100 84
+#define B01010100 84
+#define B1010101 85
+#define B01010101 85
+#define B1010110 86
+#define B01010110 86
+#define B1010111 87
+#define B01010111 87
+#define B1011000 88
+#define B01011000 88
+#define B1011001 89
+#define B01011001 89
+#define B1011010 90
+#define B01011010 90
+#define B1011011 91
+#define B01011011 91
+#define B1011100 92
+#define B01011100 92
+#define B1011101 93
+#define B01011101 93
+#define B1011110 94
+#define B01011110 94
+#define B1011111 95
+#define B01011111 95
+#define B1100000 96
+#define B01100000 96
+#define B1100001 97
+#define B01100001 97
+#define B1100010 98
+#define B01100010 98
+#define B1100011 99
+#define B01100011 99
+#define B1100100 100
+#define B01100100 100
+#define B1100101 101
+#define B01100101 101
+#define B1100110 102
+#define B01100110 102
+#define B1100111 103
+#define B01100111 103
+#define B1101000 104
+#define B01101000 104
+#define B1101001 105
+#define B01101001 105
+#define B1101010 106
+#define B01101010 106
+#define B1101011 107
+#define B01101011 107
+#define B1101100 108
+#define B01101100 108
+#define B1101101 109
+#define B01101101 109
+#define B1101110 110
+#define B01101110 110
+#define B1101111 111
+#define B01101111 111
+#define B1110000 112
+#define B01110000 112
+#define B1110001 113
+#define B01110001 113
+#define B1110010 114
+#define B01110010 114
+#define B1110011 115
+#define B01110011 115
+#define B1110100 116
+#define B01110100 116
+#define B1110101 117
+#define B01110101 117
+#define B1110110 118
+#define B01110110 118
+#define B1110111 119
+#define B01110111 119
+#define B1111000 120
+#define B01111000 120
+#define B1111001 121
+#define B01111001 121
+#define B1111010 122
+#define B01111010 122
+#define B1111011 123
+#define B01111011 123
+#define B1111100 124
+#define B01111100 124
+#define B1111101 125
+#define B01111101 125
+#define B1111110 126
+#define B01111110 126
+#define B1111111 127
+#define B01111111 127
+#define B10000000 128
+#define B10000001 129
+#define B10000010 130
+#define B10000011 131
+#define B10000100 132
+#define B10000101 133
+#define B10000110 134
+#define B10000111 135
+#define B10001000 136
+#define B10001001 137
+#define B10001010 138
+#define B10001011 139
+#define B10001100 140
+#define B10001101 141
+#define B10001110 142
+#define B10001111 143
+#define B10010000 144
+#define B10010001 145
+#define B10010010 146
+#define B10010011 147
+#define B10010100 148
+#define B10010101 149
+#define B10010110 150
+#define B10010111 151
+#define B10011000 152
+#define B10011001 153
+#define B10011010 154
+#define B10011011 155
+#define B10011100 156
+#define B10011101 157
+#define B10011110 158
+#define B10011111 159
+#define B10100000 160
+#define B10100001 161
+#define B10100010 162
+#define B10100011 163
+#define B10100100 164
+#define B10100101 165
+#define B10100110 166
+#define B10100111 167
+#define B10101000 168
+#define B10101001 169
+#define B10101010 170
+#define B10101011 171
+#define B10101100 172
+#define B10101101 173
+#define B10101110 174
+#define B10101111 175
+#define B10110000 176
+#define B10110001 177
+#define B10110010 178
+#define B10110011 179
+#define B10110100 180
+#define B10110101 181
+#define B10110110 182
+#define B10110111 183
+#define B10111000 184
+#define B10111001 185
+#define B10111010 186
+#define B10111011 187
+#define B10111100 188
+#define B10111101 189
+#define B10111110 190
+#define B10111111 191
+#define B11000000 192
+#define B11000001 193
+#define B11000010 194
+#define B11000011 195
+#define B11000100 196
+#define B11000101 197
+#define B11000110 198
+#define B11000111 199
+#define B11001000 200
+#define B11001001 201
+#define B11001010 202
+#define B11001011 203
+#define B11001100 204
+#define B11001101 205
+#define B11001110 206
+#define B11001111 207
+#define B11010000 208
+#define B11010001 209
+#define B11010010 210
+#define B11010011 211
+#define B11010100 212
+#define B11010101 213
+#define B11010110 214
+#define B11010111 215
+#define B11011000 216
+#define B11011001 217
+#define B11011010 218
+#define B11011011 219
+#define B11011100 220
+#define B11011101 221
+#define B11011110 222
+#define B11011111 223
+#define B11100000 224
+#define B11100001 225
+#define B11100010 226
+#define B11100011 227
+#define B11100100 228
+#define B11100101 229
+#define B11100110 230
+#define B11100111 231
+#define B11101000 232
+#define B11101001 233
+#define B11101010 234
+#define B11101011 235
+#define B11101100 236
+#define B11101101 237
+#define B11101110 238
+#define B11101111 239
+#define B11110000 240
+#define B11110001 241
+#define B11110010 242
+#define B11110011 243
+#define B11110100 244
+#define B11110101 245
+#define B11110110 246
+#define B11110111 247
+#define B11111000 248
+#define B11111001 249
+#define B11111010 250
+#define B11111011 251
+#define B11111100 252
+#define B11111101 253
+#define B11111110 254
+#define B11111111 255
+
+#endif

Marlin/Sanguino/cores/arduino/main.cpp

@@ -0,0 +1,14 @@
+#include <WProgram.h>
+
+int main(void)
+{
+	init();
+
+	setup();
+    
+	for (;;)
+		loop();
+        
+	return 0;
+}
+

Marlin/Sanguino/cores/arduino/pins_arduino.c

@@ -0,0 +1,200 @@
+/*
+  pins_arduino.c - pin definitions for the Arduino board
+  Part of Arduino / Wiring Lite
+
+  Copyright (c) 2005 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: pins_arduino.c 254 2007-04-20 23:17:38Z mellis $
+*/
+
+#include <avr/io.h>
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+// On the Sanguino board, digital pins are also used
+// for the analog output (software PWM).  Analog input
+// pins are a separate set.
+
+// ATMEL ATMEGA644P / SANGUINO
+//
+//                   +---\/---+
+//  INT0 (D 0) PB0  1|        |40  PA0 (AI 0 / D31)
+//  INT1 (D 1) PB1  2|        |39  PA1 (AI 1 / D30)
+//  INT2 (D 2) PB2  3|        |38  PA2 (AI 2 / D29)
+//   PWM (D 3) PB3  4|        |37  PA3 (AI 3 / D28)
+//   PWM (D 4) PB4  5|        |36  PA4 (AI 4 / D27)
+//  MOSI (D 5) PB5  6|        |35  PA5 (AI 5 / D26)
+//  MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
+//   SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
+//             RST  9|        |32  AREF
+//             VCC 10|        |31  GND 
+//             GND 11|        |30  AVCC
+//           XTAL2 12|        |29  PC7 (D 23)
+//           XTAL1 13|        |28  PC6 (D 22)
+//  RX0 (D 8)  PD0 14|        |27  PC5 (D 21) TDI
+//  TX0 (D 9)  PD1 15|        |26  PC4 (D 20) TDO
+//  RX1 (D 10) PD2 16|        |25  PC3 (D 19) TMS
+//  TX1 (D 11) PD3 17|        |24  PC2 (D 18) TCK
+//  PWM (D 12) PD4 18|        |23  PC1 (D 17) SDA
+//  PWM (D 13) PD5 19|        |22  PC0 (D 16) SCL
+//  PWM (D 14) PD6 20|        |21  PD7 (D 15) PWM
+//                   +--------+
+//
+
+#define PA 1
+#define PB 2
+#define PC 3
+#define PD 4
+
+// these arrays map port names (e.g. port B) to the
+// appropriate addresses for various functions (e.g. reading
+// and writing)
+const uint8_t PROGMEM port_to_mode_PGM[] =
+{
+	NOT_A_PORT,
+    &DDRA,
+	&DDRB,
+	&DDRC,
+	&DDRD,
+};
+
+const uint8_t PROGMEM port_to_output_PGM[] =
+{
+	NOT_A_PORT,
+	&PORTA,
+	&PORTB,
+	&PORTC,
+	&PORTD,
+};
+
+const uint8_t PROGMEM port_to_input_PGM[] =
+{
+	NOT_A_PORT,
+	&PINA,
+	&PINB,
+	&PINC,
+	&PIND,
+};
+
+const uint8_t PROGMEM digital_pin_to_port_PGM[] =
+{
+	PB, /* 0 */
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PD, /* 8 */
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PC, /* 16 */
+	PC,
+	PC,
+	PC,
+	PC,
+	PC,
+   	PC,
+	PC,
+	PA, /* 24 */
+	PA,
+	PA,
+	PA,
+	PA,
+	PA,
+	PA,
+	PA  /* 31 */
+};
+
+const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[] =
+{
+	_BV(0), /* 0, port B */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(0), /* 8, port D */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(0), /* 16, port C */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(7), /* 24, port A */
+	_BV(6),
+	_BV(5),
+	_BV(4),
+	_BV(3),
+	_BV(2),
+	_BV(1),
+	_BV(0)
+};
+
+const uint8_t PROGMEM digital_pin_to_timer_PGM[] =
+{
+	NOT_ON_TIMER, 	/* 0  - PB0 */
+	NOT_ON_TIMER, 	/* 1  - PB1 */
+	NOT_ON_TIMER, 	/* 2  - PB2 */
+	TIMER0A,     	/* 3  - PB3 */
+	TIMER0B, 		/* 4  - PB4 */
+	NOT_ON_TIMER, 	/* 5  - PB5 */
+	NOT_ON_TIMER, 	/* 6  - PB6 */
+	NOT_ON_TIMER,	/* 7  - PB7 */
+	NOT_ON_TIMER, 	/* 8  - PD0 */
+	NOT_ON_TIMER, 	/* 9  - PD1 */
+	NOT_ON_TIMER, 	/* 10 - PD2 */
+	NOT_ON_TIMER, 	/* 11 - PD3 */
+	TIMER1B,     	/* 12 - PD4 */
+	TIMER1A,     	/* 13 - PD5 */
+	TIMER2B,     	/* 14 - PD6 */
+	TIMER2A,     	/* 15 - PD7 */
+	NOT_ON_TIMER, 	/* 16 - PC0 */
+	NOT_ON_TIMER,   /* 17 - PC1 */
+	NOT_ON_TIMER,   /* 18 - PC2 */
+	NOT_ON_TIMER,   /* 19 - PC3 */
+	NOT_ON_TIMER,   /* 20 - PC4 */
+	NOT_ON_TIMER,   /* 21 - PC5 */
+	NOT_ON_TIMER,   /* 22 - PC6 */
+	NOT_ON_TIMER,   /* 23 - PC7 */
+	NOT_ON_TIMER,   /* 24 - PA0 */
+	NOT_ON_TIMER,   /* 25 - PA1 */
+	NOT_ON_TIMER,   /* 26 - PA2 */
+	NOT_ON_TIMER,   /* 27 - PA3 */
+	NOT_ON_TIMER,   /* 28 - PA4 */
+	NOT_ON_TIMER,   /* 29 - PA5 */
+	NOT_ON_TIMER,   /* 30 - PA6 */
+	NOT_ON_TIMER   /* 31 - PA7 */
+};

Marlin/Sanguino/cores/arduino/pins_arduino.h

@@ -0,0 +1,65 @@
+/*
+  pins_arduino.h - Pin definition functions for Arduino
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2007 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.h 249 2007-02-03 16:52:51Z mellis $
+*/
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+#include <avr/pgmspace.h>
+
+#define NOT_A_PIN 0
+#define NOT_A_PORT 0
+
+#define NOT_ON_TIMER 0
+#define TIMER0A 1
+#define TIMER0B 2
+#define TIMER1A 3
+#define TIMER1B 4
+#define TIMER2  5
+#define TIMER2A 6
+#define TIMER2B 7
+
+extern const uint8_t PROGMEM port_to_mode_PGM[];
+extern const uint8_t PROGMEM port_to_input_PGM[];
+extern const uint8_t PROGMEM port_to_output_PGM[];
+
+extern const uint8_t PROGMEM digital_pin_to_port_PGM[];
+extern const uint8_t PROGMEM digital_pin_to_bit_PGM[];
+extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];
+
+extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
+
+// Get the bit location within the hardware port of the given virtual pin.
+// This comes from the pins_*.c file for the active board configuration.
+// 
+// These perform slightly better as macros compared to inline functions
+//
+#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
+#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
+#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
+#define analogInPinToBit(P) (P)
+#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_output_PGM + (P))) )
+#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_input_PGM + (P))) )
+#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_mode_PGM + (P))) )
+
+#endif

Marlin/Sanguino/cores/arduino/wiring.c

@@ -0,0 +1,289 @@
+/*
+  wiring.c - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id$
+*/
+
+#include "wiring_private.h"
+
+// the prescaler is set so that timer0 ticks every 64 clock cycles, and the
+// the overflow handler is called every 256 ticks.
+#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256))
+
+// the whole number of milliseconds per timer0 overflow
+#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000)
+
+// the fractional number of milliseconds per timer0 overflow. we shift right
+// by three to fit these numbers into a byte. (for the clock speeds we care
+// about - 8 and 16 MHz - this doesn't lose precision.)
+#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3)
+#define FRACT_MAX (1000 >> 3)
+
+volatile unsigned long timer0_overflow_count = 0;
+volatile unsigned long timer0_millis = 0;
+static unsigned char timer0_fract = 0;
+
+SIGNAL(TIMER0_OVF_vect)
+{
+	// copy these to local variables so they can be stored in registers
+	// (volatile variables must be read from memory on every access)
+	unsigned long m = timer0_millis;
+	unsigned char f = timer0_fract;
+
+	m += MILLIS_INC;
+	f += FRACT_INC;
+	if (f >= FRACT_MAX) {
+		f -= FRACT_MAX;
+		m += 1;
+	}
+
+	timer0_fract = f;
+	timer0_millis = m;
+	timer0_overflow_count++;
+}
+
+unsigned long millis()
+{
+	unsigned long m;
+	uint8_t oldSREG = SREG;
+
+	// disable interrupts while we read timer0_millis or we might get an
+	// inconsistent value (e.g. in the middle of a write to timer0_millis)
+	cli();
+	m = timer0_millis;
+	SREG = oldSREG;
+
+	return m;
+}
+
+unsigned long micros() {
+	unsigned long m;
+	uint8_t oldSREG = SREG, t;
+	
+	cli();
+	m = timer0_overflow_count;
+#if defined(TCNT0)
+	t = TCNT0;
+#elif defined(TCNT0L)
+	t = TCNT0L;
+#else
+	#error TIMER 0 not defined
+#endif
+
+  
+#ifdef TIFR0
+	if ((TIFR0 & _BV(TOV0)) && (t < 255))
+		m++;
+#else
+	if ((TIFR & _BV(TOV0)) && (t < 255))
+		m++;
+#endif
+
+	SREG = oldSREG;
+	
+	return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
+}
+
+void delay(unsigned long ms)
+{
+	uint16_t start = (uint16_t)micros();
+
+	while (ms > 0) {
+		if (((uint16_t)micros() - start) >= 1000) {
+			ms--;
+			start += 1000;
+		}
+	}
+}
+
+/* Delay for the given number of microseconds.  Assumes a 8 or 16 MHz clock. */
+void delayMicroseconds(unsigned int us)
+{
+	// calling avrlib's delay_us() function with low values (e.g. 1 or
+	// 2 microseconds) gives delays longer than desired.
+	//delay_us(us);
+
+#if F_CPU >= 16000000L
+	// for the 16 MHz clock on most Arduino boards
+
+	// for a one-microsecond delay, simply return.  the overhead
+	// of the function call yields a delay of approximately 1 1/8 us.
+	if (--us == 0)
+		return;
+
+	// the following loop takes a quarter of a microsecond (4 cycles)
+	// per iteration, so execute it four times for each microsecond of
+	// delay requested.
+	us <<= 2;
+
+	// account for the time taken in the preceeding commands.
+	us -= 2;
+#else
+	// for the 8 MHz internal clock on the ATmega168
+
+	// for a one- or two-microsecond delay, simply return.  the overhead of
+	// the function calls takes more than two microseconds.  can't just
+	// subtract two, since us is unsigned; we'd overflow.
+	if (--us == 0)
+		return;
+	if (--us == 0)
+		return;
+
+	// the following loop takes half of a microsecond (4 cycles)
+	// per iteration, so execute it twice for each microsecond of
+	// delay requested.
+	us <<= 1;
+    
+	// partially compensate for the time taken by the preceeding commands.
+	// we can't subtract any more than this or we'd overflow w/ small delays.
+	us--;
+#endif
+
+	// busy wait
+	__asm__ __volatile__ (
+		"1: sbiw %0,1" "\n\t" // 2 cycles
+		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
+	);
+}
+
+void init()
+{
+	// this needs to be called before setup() or some functions won't
+	// work there
+	sei();
+	
+	// on the ATmega168, timer 0 is also used for fast hardware pwm
+	// (using phase-correct PWM would mean that timer 0 overflowed half as often
+	// resulting in different millis() behavior on the ATmega8 and ATmega168)
+#if defined(TCCR0A) && defined(WGM01)
+	sbi(TCCR0A, WGM01);
+	sbi(TCCR0A, WGM00);
+#endif  
+
+	// set timer 0 prescale factor to 64
+#if defined(__AVR_ATmega128__)
+	// CPU specific: different values for the ATmega128
+	sbi(TCCR0, CS02);
+#elif defined(TCCR0) && defined(CS01) && defined(CS00)
+	// this combination is for the standard atmega8
+	sbi(TCCR0, CS01);
+	sbi(TCCR0, CS00);
+#elif defined(TCCR0B) && defined(CS01) && defined(CS00)
+	// this combination is for the standard 168/328/1280/2560
+	sbi(TCCR0B, CS01);
+	sbi(TCCR0B, CS00);
+#elif defined(TCCR0A) && defined(CS01) && defined(CS00)
+	// this combination is for the __AVR_ATmega645__ series
+	sbi(TCCR0A, CS01);
+	sbi(TCCR0A, CS00);
+#else
+	#error Timer 0 prescale factor 64 not set correctly
+#endif
+
+	// enable timer 0 overflow interrupt
+#if defined(TIMSK) && defined(TOIE0)
+	sbi(TIMSK, TOIE0);
+#elif defined(TIMSK0) && defined(TOIE0)
+	sbi(TIMSK0, TOIE0);
+#else
+	#error	Timer 0 overflow interrupt not set correctly
+#endif
+
+	// timers 1 and 2 are used for phase-correct hardware pwm
+	// this is better for motors as it ensures an even waveform
+	// note, however, that fast pwm mode can achieve a frequency of up
+	// 8 MHz (with a 16 MHz clock) at 50% duty cycle
+
+	TCCR1B = 0;
+
+	// set timer 1 prescale factor to 64
+#if defined(TCCR1B) && defined(CS11) && defined(CS10)
+	sbi(TCCR1B, CS11);
+	sbi(TCCR1B, CS10);
+#elif defined(TCCR1) && defined(CS11) && defined(CS10)
+	sbi(TCCR1, CS11);
+	sbi(TCCR1, CS10);
+#endif
+	// put timer 1 in 8-bit phase correct pwm mode
+#if defined(TCCR1A) && defined(WGM10)
+	sbi(TCCR1A, WGM10);
+#elif defined(TCCR1)
+	#warning this needs to be finished
+#endif
+
+	// set timer 2 prescale factor to 64
+#if defined(TCCR2) && defined(CS22)
+	sbi(TCCR2, CS22);
+#elif defined(TCCR2B) && defined(CS22)
+	sbi(TCCR2B, CS22);
+#else
+	#warning Timer 2 not finished (may not be present on this CPU)
+#endif
+
+	// configure timer 2 for phase correct pwm (8-bit)
+#if defined(TCCR2) && defined(WGM20)
+	sbi(TCCR2, WGM20);
+#elif defined(TCCR2A) && defined(WGM20)
+	sbi(TCCR2A, WGM20);
+#else
+	#warning Timer 2 not finished (may not be present on this CPU)
+#endif
+
+#if defined(TCCR3B) && defined(CS31) && defined(WGM30)
+	sbi(TCCR3B, CS31);		// set timer 3 prescale factor to 64
+	sbi(TCCR3B, CS30);
+	sbi(TCCR3A, WGM30);		// put timer 3 in 8-bit phase correct pwm mode
+#endif
+	
+#if defined(TCCR4B) && defined(CS41) && defined(WGM40)
+	sbi(TCCR4B, CS41);		// set timer 4 prescale factor to 64
+	sbi(TCCR4B, CS40);
+	sbi(TCCR4A, WGM40);		// put timer 4 in 8-bit phase correct pwm mode
+#endif
+
+#if defined(TCCR5B) && defined(CS51) && defined(WGM50)
+	sbi(TCCR5B, CS51);		// set timer 5 prescale factor to 64
+	sbi(TCCR5B, CS50);
+	sbi(TCCR5A, WGM50);		// put timer 5 in 8-bit phase correct pwm mode
+#endif
+
+#if defined(ADCSRA)
+	// set a2d prescale factor to 128
+	// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
+	// XXX: this will not work properly for other clock speeds, and
+	// this code should use F_CPU to determine the prescale factor.
+	sbi(ADCSRA, ADPS2);
+	sbi(ADCSRA, ADPS1);
+	sbi(ADCSRA, ADPS0);
+
+	// enable a2d conversions
+	sbi(ADCSRA, ADEN);
+#endif
+
+	// the bootloader connects pins 0 and 1 to the USART; disconnect them
+	// here so they can be used as normal digital i/o; they will be
+	// reconnected in Serial.begin()
+#if defined(UCSRB)
+	UCSRB = 0;
+#elif defined(UCSR0B)
+	UCSR0B = 0;
+#endif
+}

Marlin/Sanguino/cores/arduino/wiring.h

@@ -0,0 +1,136 @@
+/*
+  wiring.h - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id$
+*/
+
+#ifndef Wiring_h
+#define Wiring_h
+
+#include <math.h>
+#include <avr/io.h>
+#include <stdlib.h>
+#include "binary.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#define HIGH 0x1
+#define LOW  0x0
+
+#define INPUT 0x0
+#define OUTPUT 0x1
+
+#define true 0x1
+#define false 0x0
+
+#define PI 3.1415926535897932384626433832795
+#define HALF_PI 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+#define DEG_TO_RAD 0.017453292519943295769236907684886
+#define RAD_TO_DEG 57.295779513082320876798154814105
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define INTERNAL1V1 2
+#define INTERNAL2V56 3
+#else
+#define INTERNAL 3
+#endif
+#define DEFAULT 1
+#define EXTERNAL 0
+
+// undefine stdlib's abs if encountered
+#ifdef abs
+#undef abs
+#endif
+
+#define min(a,b) ((a)<(b)?(a):(b))
+#define max(a,b) ((a)>(b)?(a):(b))
+#define abs(x) ((x)>0?(x):-(x))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
+#define sq(x) ((x)*(x))
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )
+#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )
+
+#define lowByte(w) ((uint8_t) ((w) & 0xff))
+#define highByte(w) ((uint8_t) ((w) >> 8))
+
+#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
+#define bitSet(value, bit) ((value) |= (1UL << (bit)))
+#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+
+
+typedef unsigned int word;
+
+#define bit(b) (1UL << (b))
+
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+void init(void);
+
+void pinMode(uint8_t, uint8_t);
+void digitalWrite(uint8_t, uint8_t);
+int digitalRead(uint8_t);
+int analogRead(uint8_t);
+void analogReference(uint8_t mode);
+void analogWrite(uint8_t, int);
+
+unsigned long millis(void);
+unsigned long micros(void);
+void delay(unsigned long);
+void delayMicroseconds(unsigned int us);
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
+uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
+
+void attachInterrupt(uint8_t, void (*)(void), int mode);
+void detachInterrupt(uint8_t);
+
+void setup(void);
+void loop(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

Marlin/Sanguino/cores/arduino/wiring_analog.c

@@ -0,0 +1,259 @@
+/*
+  wiring_analog.c - analog input and output
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  Modified 28 September 2010 by Mark Sproul
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+uint8_t analog_reference = DEFAULT;
+
+void analogReference(uint8_t mode)
+{
+	// can't actually set the register here because the default setting
+	// will connect AVCC and the AREF pin, which would cause a short if
+	// there's something connected to AREF.
+	analog_reference = mode;
+}
+
+int analogRead(uint8_t pin)
+{
+	uint8_t low, high;
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+	if (pin >= 54) pin -= 54; // allow for channel or pin numbers
+#else
+	if (pin >= 14) pin -= 14; // allow for channel or pin numbers
+#endif
+
+#if defined(ADCSRB) && defined(MUX5)
+	// the MUX5 bit of ADCSRB selects whether we're reading from channels
+	// 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high).
+	ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5);
+#endif
+  
+	// set the analog reference (high two bits of ADMUX) and select the
+	// channel (low 4 bits).  this also sets ADLAR (left-adjust result)
+	// to 0 (the default).
+#if defined(ADMUX)
+	ADMUX = (analog_reference << 6) | (pin & 0x07);
+#endif
+
+	// without a delay, we seem to read from the wrong channel
+	//delay(1);
+
+#if defined(ADCSRA) && defined(ADCL)
+	// start the conversion
+	sbi(ADCSRA, ADSC);
+
+	// ADSC is cleared when the conversion finishes
+	while (bit_is_set(ADCSRA, ADSC));
+
+	// we have to read ADCL first; doing so locks both ADCL
+	// and ADCH until ADCH is read.  reading ADCL second would
+	// cause the results of each conversion to be discarded,
+	// as ADCL and ADCH would be locked when it completed.
+	low  = ADCL;
+	high = ADCH;
+#else
+	// we dont have an ADC, return 0
+	low  = 0;
+	high = 0;
+#endif
+
+	// combine the two bytes
+	return (high << 8) | low;
+}
+
+// Right now, PWM output only works on the pins with
+// hardware support.  These are defined in the appropriate
+// pins_*.c file.  For the rest of the pins, we default
+// to digital output.
+void analogWrite(uint8_t pin, int val)
+{
+	// We need to make sure the PWM output is enabled for those pins
+	// that support it, as we turn it off when digitally reading or
+	// writing with them.  Also, make sure the pin is in output mode
+	// for consistenty with Wiring, which doesn't require a pinMode
+	// call for the analog output pins.
+	pinMode(pin, OUTPUT);
+	if (val == 0)
+	{
+		digitalWrite(pin, LOW);
+	}
+	else if (val == 255)
+	{
+		digitalWrite(pin, HIGH);
+	}
+	else
+	{
+		switch(digitalPinToTimer(pin))
+		{
+			// XXX fix needed for atmega8
+			#if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__)
+			case TIMER0A:
+				// connect pwm to pin on timer 0
+				sbi(TCCR0, COM00);
+				OCR0 = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR0A) && defined(COM0A1)
+			case TIMER0A:
+				// connect pwm to pin on timer 0, channel A
+				sbi(TCCR0A, COM0A1);
+				OCR0A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR0A) && defined(COM0B1)
+			case TIMER0B:
+				// connect pwm to pin on timer 0, channel B
+				sbi(TCCR0A, COM0B1);
+				OCR0B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR1A) && defined(COM1A1)
+			case TIMER1A:
+				// connect pwm to pin on timer 1, channel A
+				sbi(TCCR1A, COM1A1);
+				OCR1A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR1A) && defined(COM1B1)
+			case TIMER1B:
+				// connect pwm to pin on timer 1, channel B
+				sbi(TCCR1A, COM1B1);
+				OCR1B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR2) && defined(COM21)
+			case TIMER2:
+				// connect pwm to pin on timer 2
+				sbi(TCCR2, COM21);
+				OCR2 = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR2A) && defined(COM2A1)
+			case TIMER2A:
+				// connect pwm to pin on timer 2, channel A
+				sbi(TCCR2A, COM2A1);
+				OCR2A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR2A) && defined(COM2B1)
+			case TIMER2B:
+				// connect pwm to pin on timer 2, channel B
+				sbi(TCCR2A, COM2B1);
+				OCR2B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR3A) && defined(COM3A1)
+			case TIMER3A:
+				// connect pwm to pin on timer 3, channel A
+				sbi(TCCR3A, COM3A1);
+				OCR3A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR3A) && defined(COM3B1)
+			case TIMER3B:
+				// connect pwm to pin on timer 3, channel B
+				sbi(TCCR3A, COM3B1);
+				OCR3B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR3A) && defined(COM3C1)
+			case TIMER3C:
+				// connect pwm to pin on timer 3, channel C
+				sbi(TCCR3A, COM3C1);
+				OCR3C = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR4A) && defined(COM4A1)
+			case TIMER4A:
+				// connect pwm to pin on timer 4, channel A
+				sbi(TCCR4A, COM4A1);
+				OCR4A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR4A) && defined(COM4B1)
+			case TIMER4B:
+				// connect pwm to pin on timer 4, channel B
+				sbi(TCCR4A, COM4B1);
+				OCR4B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR4A) && defined(COM4C1)
+			case TIMER4C:
+				// connect pwm to pin on timer 4, channel C
+				sbi(TCCR4A, COM4C1);
+				OCR4C = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR5A) && defined(COM5A1)
+			case TIMER5A:
+				// connect pwm to pin on timer 5, channel A
+				sbi(TCCR5A, COM5A1);
+				OCR5A = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR5A) && defined(COM5B1)
+			case TIMER5B:
+				// connect pwm to pin on timer 5, channel B
+				sbi(TCCR5A, COM5B1);
+				OCR5B = val; // set pwm duty
+				break;
+			#endif
+
+			#if defined(TCCR5A) && defined(COM5C1)
+			case TIMER5C:
+				// connect pwm to pin on timer 5, channel C
+				sbi(TCCR5A, COM5C1);
+				OCR5C = val; // set pwm duty
+				break;
+			#endif
+
+			case NOT_ON_TIMER:
+			default:
+				if (val < 128) {
+					digitalWrite(pin, LOW);
+				} else {
+					digitalWrite(pin, HIGH);
+				}
+		}
+	}
+}

Marlin/Sanguino/cores/arduino/wiring_digital.c

@@ -0,0 +1,166 @@
+/*
+  wiring_digital.c - digital input and output functions
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  Modified 28 September 2010 by Mark Sproul
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+void pinMode(uint8_t pin, uint8_t mode)
+{
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *reg;
+
+	if (port == NOT_A_PIN) return;
+
+	// JWS: can I let the optimizer do this?
+	reg = portModeRegister(port);
+
+	if (mode == INPUT) { 
+		uint8_t oldSREG = SREG;
+                cli();
+		*reg &= ~bit;
+		SREG = oldSREG;
+	} else {
+		uint8_t oldSREG = SREG;
+                cli();
+		*reg |= bit;
+		SREG = oldSREG;
+	}
+}
+
+// Forcing this inline keeps the callers from having to push their own stuff
+// on the stack. It is a good performance win and only takes 1 more byte per
+// user than calling. (It will take more bytes on the 168.)
+//
+// But shouldn't this be moved into pinMode? Seems silly to check and do on
+// each digitalread or write.
+//
+// Mark Sproul:
+// - Removed inline. Save 170 bytes on atmega1280
+// - changed to a switch statment; added 32 bytes but much easier to read and maintain.
+// - Added more #ifdefs, now compiles for atmega645
+//
+//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
+//static inline void turnOffPWM(uint8_t timer)
+static void turnOffPWM(uint8_t timer)
+{
+	switch (timer)
+	{
+		#if defined(TCCR1A) && defined(COM1A1)
+		case TIMER1A:   cbi(TCCR1A, COM1A1);    break;
+		#endif
+		#if defined(TCCR1A) && defined(COM1B1)
+		case TIMER1B:   cbi(TCCR1A, COM1B1);    break;
+		#endif
+		
+		#if defined(TCCR2) && defined(COM21)
+		case  TIMER2:   cbi(TCCR2, COM21);      break;
+		#endif
+		
+		#if defined(TCCR0A) && defined(COM0A1)
+		case  TIMER0A:  cbi(TCCR0A, COM0A1);    break;
+		#endif
+		
+		#if defined(TIMER0B) && defined(COM0B1)
+		case  TIMER0B:  cbi(TCCR0A, COM0B1);    break;
+		#endif
+		#if defined(TCCR2A) && defined(COM2A1)
+		case  TIMER2A:  cbi(TCCR2A, COM2A1);    break;
+		#endif
+		#if defined(TCCR2A) && defined(COM2B1)
+		case  TIMER2B:  cbi(TCCR2A, COM2B1);    break;
+		#endif
+		
+		#if defined(TCCR3A) && defined(COM3A1)
+		case  TIMER3A:  cbi(TCCR3A, COM3A1);    break;
+		#endif
+		#if defined(TCCR3A) && defined(COM3B1)
+		case  TIMER3B:  cbi(TCCR3A, COM3B1);    break;
+		#endif
+		#if defined(TCCR3A) && defined(COM3C1)
+		case  TIMER3C:  cbi(TCCR3A, COM3C1);    break;
+		#endif
+
+		#if defined(TCCR4A) && defined(COM4A1)
+		case  TIMER4A:  cbi(TCCR4A, COM4A1);    break;
+		#endif
+		#if defined(TCCR4A) && defined(COM4B1)
+		case  TIMER4B:  cbi(TCCR4A, COM4B1);    break;
+		#endif
+		#if defined(TCCR4A) && defined(COM4C1)
+		case  TIMER4C:  cbi(TCCR4A, COM4C1);    break;
+		#endif
+		#if defined(TCCR5A)
+		case  TIMER5A:  cbi(TCCR5A, COM5A1);    break;
+		case  TIMER5B:  cbi(TCCR5A, COM5B1);    break;
+		case  TIMER5C:  cbi(TCCR5A, COM5C1);    break;
+		#endif
+	}
+}
+
+void digitalWrite(uint8_t pin, uint8_t val)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *out;
+
+	if (port == NOT_A_PIN) return;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before doing a digital write.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	out = portOutputRegister(port);
+
+	if (val == LOW) {
+		uint8_t oldSREG = SREG;
+                cli();
+		*out &= ~bit;
+		SREG = oldSREG;
+	} else {
+		uint8_t oldSREG = SREG;
+                cli();
+		*out |= bit;
+		SREG = oldSREG;
+	}
+}
+
+int digitalRead(uint8_t pin)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+
+	if (port == NOT_A_PIN) return LOW;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before getting a digital reading.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	if (*portInputRegister(port) & bit) return HIGH;
+	return LOW;
+}

Marlin/Sanguino/cores/arduino/wiring_private.h

@@ -0,0 +1,68 @@
+/*
+  wiring_private.h - Internal header file.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.h 239 2007-01-12 17:58:39Z mellis $
+*/
+
+#ifndef WiringPrivate_h
+#define WiringPrivate_h
+#include <math.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/delay.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#include "wiring.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+#define EXTERNAL_INT_0 0
+#define EXTERNAL_INT_1 1
+#define EXTERNAL_INT_2 2
+#define EXTERNAL_INT_3 3
+#define EXTERNAL_INT_4 4
+#define EXTERNAL_INT_5 5
+#define EXTERNAL_INT_6 6
+#define EXTERNAL_INT_7 7
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define EXTERNAL_NUM_INTERRUPTS 8
+#else
+#define EXTERNAL_NUM_INTERRUPTS 2
+#endif
+
+typedef void (*voidFuncPtr)(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

Marlin/Sanguino/cores/arduino/wiring_pulse.c

@@ -0,0 +1,69 @@
+/*
+  wiring_pulse.c - pulseIn() function
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH
+ * or LOW, the type of pulse to measure.  Works on pulses from 2-3 microseconds
+ * to 3 minutes in length, but must be called at least a few dozen microseconds
+ * before the start of the pulse. */
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout)
+{
+	// cache the port and bit of the pin in order to speed up the
+	// pulse width measuring loop and achieve finer resolution.  calling
+	// digitalRead() instead yields much coarser resolution.
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	uint8_t stateMask = (state ? bit : 0);
+	unsigned long width = 0; // keep initialization out of time critical area
+	
+	// convert the timeout from microseconds to a number of times through
+	// the initial loop; it takes 16 clock cycles per iteration.
+	unsigned long numloops = 0;
+	unsigned long maxloops = microsecondsToClockCycles(timeout) / 16;
+	
+	// wait for any previous pulse to end
+	while ((*portInputRegister(port) & bit) == stateMask)
+		if (numloops++ == maxloops)
+			return 0;
+	
+	// wait for the pulse to start
+	while ((*portInputRegister(port) & bit) != stateMask)
+		if (numloops++ == maxloops)
+			return 0;
+	
+	// wait for the pulse to stop
+	while ((*portInputRegister(port) & bit) == stateMask) {
+		if (numloops++ == maxloops)
+			return 0;
+		width++;
+	}
+
+	// convert the reading to microseconds. The loop has been determined
+	// to be 20 clock cycles long and have about 16 clocks between the edge
+	// and the start of the loop. There will be some error introduced by
+	// the interrupt handlers.
+	return clockCyclesToMicroseconds(width * 21 + 16); 
+}

Marlin/Sanguino/cores/arduino/wiring_shift.c

@@ -0,0 +1,55 @@
+/*
+  wiring_shift.c - shiftOut() function
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+
+uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) {
+	uint8_t value = 0;
+	uint8_t i;
+
+	for (i = 0; i < 8; ++i) {
+		digitalWrite(clockPin, HIGH);
+		if (bitOrder == LSBFIRST)
+			value |= digitalRead(dataPin) << i;
+		else
+			value |= digitalRead(dataPin) << (7 - i);
+		digitalWrite(clockPin, LOW);
+	}
+	return value;
+}
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val)
+{
+	uint8_t i;
+
+	for (i = 0; i < 8; i++)  {
+		if (bitOrder == LSBFIRST)
+			digitalWrite(dataPin, !!(val & (1 << i)));
+		else	
+			digitalWrite(dataPin, !!(val & (1 << (7 - i))));
+			
+		digitalWrite(clockPin, HIGH);
+		digitalWrite(clockPin, LOW);		
+	}
+}

Marlin/Sanguino/programmers.txt

@@ -0,0 +1,20 @@
+avrisp.name=AVR ISP
+avrisp.communication=serial
+avrisp.protocol=stk500v1
+
+avrispmkii.name=AVRISP mkII
+avrispmkii.communication=usb
+avrispmkii.protocol=stk500v2
+
+usbtinyisp.name=USBtinyISP
+usbtinyisp.protocol=usbtiny
+
+parallel.name=Parallel Programmer
+parallel.protocol=dapa
+parallel.force=true
+# parallel.delay=200
+
+arduinoisp.name=Arduino as ISP
+arduinoisp.communication=serial
+arduinoisp.protocol=stk500v1
+arduinoisp.speed=19200

Marlin/Sd2Card.cpp

@@ -0,0 +1,643 @@
+/* Arduino Sd2Card Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino Sd2Card Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino Sd2Card Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
+#include "Sd2Card.h"
+//------------------------------------------------------------------------------
+#ifndef SOFTWARE_SPI
+// functions for hardware SPI
+//------------------------------------------------------------------------------
+// make sure SPCR rate is in expected bits
+#if (SPR0 != 0 || SPR1 != 1)
+#error unexpected SPCR bits
+#endif
+/**
+ * Initialize hardware SPI
+ * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
+ */
+static void spiInit(uint8_t spiRate) {
+  // See avr processor documentation
+  SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
+  SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
+}
+//------------------------------------------------------------------------------
+/** SPI receive a byte */
+static uint8_t spiRec() {
+  SPDR = 0XFF;
+  while (!(SPSR & (1 << SPIF)));
+  return SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI read data - only one call so force inline */
+static inline __attribute__((always_inline))
+  void spiRead(uint8_t* buf, uint16_t nbyte) {
+  if (nbyte-- == 0) return;
+  SPDR = 0XFF;
+  for (uint16_t i = 0; i < nbyte; i++) {
+    while (!(SPSR & (1 << SPIF)));
+    buf[i] = SPDR;
+    SPDR = 0XFF;
+  }
+  while (!(SPSR & (1 << SPIF)));
+  buf[nbyte] = SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI send a byte */
+static void spiSend(uint8_t b) {
+  SPDR = b;
+  while (!(SPSR & (1 << SPIF)));
+}
+//------------------------------------------------------------------------------
+/** SPI send block - only one call so force inline */
+static inline __attribute__((always_inline))
+  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  SPDR = token;
+  for (uint16_t i = 0; i < 512; i += 2) {
+    while (!(SPSR & (1 << SPIF)));
+    SPDR = buf[i];
+    while (!(SPSR & (1 << SPIF)));
+    SPDR = buf[i + 1];
+  }
+  while (!(SPSR & (1 << SPIF)));
+}
+//------------------------------------------------------------------------------
+#else  // SOFTWARE_SPI
+//------------------------------------------------------------------------------
+/** nop to tune soft SPI timing */
+#define nop asm volatile ("nop\n\t")
+//------------------------------------------------------------------------------
+/** Soft SPI receive byte */
+static uint8_t spiRec() {
+  uint8_t data = 0;
+  // no interrupts during byte receive - about 8 us
+  cli();
+  // output pin high - like sending 0XFF
+  fastDigitalWrite(SPI_MOSI_PIN, HIGH);
+
+  for (uint8_t i = 0; i < 8; i++) {
+    fastDigitalWrite(SPI_SCK_PIN, HIGH);
+
+    // adjust so SCK is nice
+    nop;
+    nop;
+
+    data <<= 1;
+
+    if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;
+
+    fastDigitalWrite(SPI_SCK_PIN, LOW);
+  }
+  // enable interrupts
+  sei();
+  return data;
+}
+//------------------------------------------------------------------------------
+/** Soft SPI read data */
+static void spiRead(uint8_t* buf, uint16_t nbyte) {
+  for (uint16_t i = 0; i < nbyte; i++) {
+    buf[i] = spiRec();
+  }
+}
+//------------------------------------------------------------------------------
+/** Soft SPI send byte */
+static void spiSend(uint8_t data) {
+  // no interrupts during byte send - about 8 us
+  cli();
+  for (uint8_t i = 0; i < 8; i++) {
+    fastDigitalWrite(SPI_SCK_PIN, LOW);
+
+    fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);
+
+    data <<= 1;
+
+    fastDigitalWrite(SPI_SCK_PIN, HIGH);
+  }
+  // hold SCK high for a few ns
+  nop;
+  nop;
+  nop;
+  nop;
+
+  fastDigitalWrite(SPI_SCK_PIN, LOW);
+  // enable interrupts
+  sei();
+}
+//------------------------------------------------------------------------------
+/** Soft SPI send block */
+  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  spiSend(token);
+  for (uint16_t i = 0; i < 512; i++) {
+    spiSend(buf[i]);
+  }
+}
+#endif  // SOFTWARE_SPI
+//------------------------------------------------------------------------------
+// send command and return error code.  Return zero for OK
+uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
+  // select card
+  chipSelectLow();
+
+  // wait up to 300 ms if busy
+  waitNotBusy(300);
+
+  // send command
+  spiSend(cmd | 0x40);
+
+  // send argument
+  for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
+
+  // send CRC
+  uint8_t crc = 0XFF;
+  if (cmd == CMD0) crc = 0X95;  // correct crc for CMD0 with arg 0
+  if (cmd == CMD8) crc = 0X87;  // correct crc for CMD8 with arg 0X1AA
+  spiSend(crc);
+
+  // skip stuff byte for stop read
+  if (cmd == CMD12) spiRec();
+
+  // wait for response
+  for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);
+  return status_;
+}
+//------------------------------------------------------------------------------
+/**
+ * Determine the size of an SD flash memory card.
+ *
+ * \return The number of 512 byte data blocks in the card
+ *         or zero if an error occurs.
+ */
+uint32_t Sd2Card::cardSize() {
+  csd_t csd;
+  if (!readCSD(&csd)) return 0;
+  if (csd.v1.csd_ver == 0) {
+    uint8_t read_bl_len = csd.v1.read_bl_len;
+    uint16_t c_size = (csd.v1.c_size_high << 10)
+                      | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;
+    uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)
+                          | csd.v1.c_size_mult_low;
+    return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
+  } else if (csd.v2.csd_ver == 1) {
+    uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)
+                      | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;
+    return (c_size + 1) << 10;
+  } else {
+    error(SD_CARD_ERROR_BAD_CSD);
+    return 0;
+  }
+}
+//------------------------------------------------------------------------------
+void Sd2Card::chipSelectHigh() {
+  digitalWrite(chipSelectPin_, HIGH);
+}
+//------------------------------------------------------------------------------
+void Sd2Card::chipSelectLow() {
+#ifndef SOFTWARE_SPI
+  spiInit(spiRate_);
+#endif  // SOFTWARE_SPI
+  digitalWrite(chipSelectPin_, LOW);
+}
+//------------------------------------------------------------------------------
+/** Erase a range of blocks.
+ *
+ * \param[in] firstBlock The address of the first block in the range.
+ * \param[in] lastBlock The address of the last block in the range.
+ *
+ * \note This function requests the SD card to do a flash erase for a
+ * range of blocks.  The data on the card after an erase operation is
+ * either 0 or 1, depends on the card vendor.  The card must support
+ * single block erase.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {
+  csd_t csd;
+  if (!readCSD(&csd)) goto fail;
+  // check for single block erase
+  if (!csd.v1.erase_blk_en) {
+    // erase size mask
+    uint8_t m = (csd.v1.sector_size_high << 1) | csd.v1.sector_size_low;
+    if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) {
+      // error card can't erase specified area
+      error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
+      goto fail;
+    }
+  }
+  if (type_ != SD_CARD_TYPE_SDHC) {
+    firstBlock <<= 9;
+    lastBlock <<= 9;
+  }
+  if (cardCommand(CMD32, firstBlock)
+    || cardCommand(CMD33, lastBlock)
+    || cardCommand(CMD38, 0)) {
+      error(SD_CARD_ERROR_ERASE);
+      goto fail;
+  }
+  if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
+    error(SD_CARD_ERROR_ERASE_TIMEOUT);
+    goto fail;
+  }
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Determine if card supports single block erase.
+ *
+ * \return The value one, true, is returned if single block erase is supported.
+ * The value zero, false, is returned if single block erase is not supported.
+ */
+bool Sd2Card::eraseSingleBlockEnable() {
+  csd_t csd;
+  return readCSD(&csd) ? csd.v1.erase_blk_en : false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Initialize an SD flash memory card.
+ *
+ * \param[in] sckRateID SPI clock rate selector. See setSckRate().
+ * \param[in] chipSelectPin SD chip select pin number.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.  The reason for failure
+ * can be determined by calling errorCode() and errorData().
+ */
+bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
+  errorCode_ = type_ = 0;
+  chipSelectPin_ = chipSelectPin;
+  // 16-bit init start time allows over a minute
+  uint16_t t0 = (uint16_t)millis();
+  uint32_t arg;
+
+  // set pin modes
+  pinMode(chipSelectPin_, OUTPUT);
+  chipSelectHigh();
+  pinMode(SPI_MISO_PIN, INPUT);
+  pinMode(SPI_MOSI_PIN, OUTPUT);
+  pinMode(SPI_SCK_PIN, OUTPUT);
+
+#ifndef SOFTWARE_SPI
+  // SS must be in output mode even it is not chip select
+  pinMode(SS_PIN, OUTPUT);
+  // set SS high - may be chip select for another SPI device
+#if SET_SPI_SS_HIGH
+  digitalWrite(SS_PIN, HIGH);
+#endif  // SET_SPI_SS_HIGH
+  // set SCK rate for initialization commands
+  spiRate_ = SPI_SD_INIT_RATE;
+  spiInit(spiRate_);
+#endif  // SOFTWARE_SPI
+
+  // must supply min of 74 clock cycles with CS high.
+  for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
+
+  // command to go idle in SPI mode
+  while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+      error(SD_CARD_ERROR_CMD0);
+      goto fail;
+    }
+  }
+  // check SD version
+  if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {
+    type(SD_CARD_TYPE_SD1);
+  } else {
+    // only need last byte of r7 response
+    for (uint8_t i = 0; i < 4; i++) status_ = spiRec();
+    if (status_ != 0XAA) {
+      error(SD_CARD_ERROR_CMD8);
+      goto fail;
+    }
+    type(SD_CARD_TYPE_SD2);
+  }
+  // initialize card and send host supports SDHC if SD2
+  arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
+
+  while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {
+    // check for timeout
+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+      error(SD_CARD_ERROR_ACMD41);
+      goto fail;
+    }
+  }
+  // if SD2 read OCR register to check for SDHC card
+  if (type() == SD_CARD_TYPE_SD2) {
+    if (cardCommand(CMD58, 0)) {
+      error(SD_CARD_ERROR_CMD58);
+      goto fail;
+    }
+    if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);
+    // discard rest of ocr - contains allowed voltage range
+    for (uint8_t i = 0; i < 3; i++) spiRec();
+  }
+  chipSelectHigh();
+
+#ifndef SOFTWARE_SPI
+  return setSckRate(sckRateID);
+#else  // SOFTWARE_SPI
+  return true;
+#endif  // SOFTWARE_SPI
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Read a 512 byte block from an SD card.
+ *
+ * \param[in] blockNumber Logical block to be read.
+ * \param[out] dst Pointer to the location that will receive the data.
+
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readBlock(uint32_t blockNumber, uint8_t* dst) {
+  // use address if not SDHC card
+  if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+  if (cardCommand(CMD17, blockNumber)) {
+    error(SD_CARD_ERROR_CMD17);
+    goto fail;
+  }
+  return readData(dst, 512);
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Read one data block in a multiple block read sequence
+ *
+ * \param[in] dst Pointer to the location for the data to be read.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readData(uint8_t *dst) {
+  chipSelectLow();
+  return readData(dst, 512);
+}
+//------------------------------------------------------------------------------
+bool Sd2Card::readData(uint8_t* dst, uint16_t count) {
+  // wait for start block token
+  uint16_t t0 = millis();
+  while ((status_ = spiRec()) == 0XFF) {
+    if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {
+      error(SD_CARD_ERROR_READ_TIMEOUT);
+      goto fail;
+    }
+  }
+  if (status_ != DATA_START_BLOCK) {
+    error(SD_CARD_ERROR_READ);
+    goto fail;
+  }
+  // transfer data
+  spiRead(dst, count);
+
+  // discard CRC
+  spiRec();
+  spiRec();
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** read CID or CSR register */
+bool Sd2Card::readRegister(uint8_t cmd, void* buf) {
+  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
+  if (cardCommand(cmd, 0)) {
+    error(SD_CARD_ERROR_READ_REG);
+    goto fail;
+  }
+  return readData(dst, 16);
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Start a read multiple blocks sequence.
+ *
+ * \param[in] blockNumber Address of first block in sequence.
+ *
+ * \note This function is used with readData() and readStop() for optimized
+ * multiple block reads.  SPI chipSelect must be low for the entire sequence.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readStart(uint32_t blockNumber) {
+  if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+  if (cardCommand(CMD18, blockNumber)) {
+    error(SD_CARD_ERROR_CMD18);
+    goto fail;
+  }
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** End a read multiple blocks sequence.
+ *
+* \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readStop() {
+  chipSelectLow();
+  if (cardCommand(CMD12, 0)) {
+    error(SD_CARD_ERROR_CMD12);
+    goto fail;
+  }
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Set the SPI clock rate.
+ *
+ * \param[in] sckRateID A value in the range [0, 6].
+ *
+ * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum
+ * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128
+ * for \a scsRateID = 6.
+ *
+ * \return The value one, true, is returned for success and the value zero,
+ * false, is returned for an invalid value of \a sckRateID.
+ */
+bool Sd2Card::setSckRate(uint8_t sckRateID) {
+  if (sckRateID > 6) {
+    error(SD_CARD_ERROR_SCK_RATE);
+    return false;
+  }
+  spiRate_ = sckRateID;
+  return true;
+}
+//------------------------------------------------------------------------------
+// wait for card to go not busy
+bool Sd2Card::waitNotBusy(uint16_t timeoutMillis) {
+  uint16_t t0 = millis();
+  while (spiRec() != 0XFF) {
+    if (((uint16_t)millis() - t0) >= timeoutMillis) goto fail;
+  }
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Writes a 512 byte block to an SD card.
+ *
+ * \param[in] blockNumber Logical block to be written.
+ * \param[in] src Pointer to the location of the data to be written.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+  if (cardCommand(CMD24, blockNumber)) {
+    error(SD_CARD_ERROR_CMD24);
+    goto fail;
+  }
+  if (!writeData(DATA_START_BLOCK, src)) goto fail;
+
+  // wait for flash programming to complete
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
+    error(SD_CARD_ERROR_WRITE_TIMEOUT);
+    goto fail;
+  }
+  // response is r2 so get and check two bytes for nonzero
+  if (cardCommand(CMD13, 0) || spiRec()) {
+    error(SD_CARD_ERROR_WRITE_PROGRAMMING);
+    goto fail;
+  }
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Write one data block in a multiple block write sequence
+ * \param[in] src Pointer to the location of the data to be written.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeData(const uint8_t* src) {
+  chipSelectLow();
+  // wait for previous write to finish
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+  if (!writeData(WRITE_MULTIPLE_TOKEN, src)) goto fail;
+  chipSelectHigh();
+  return true;
+
+ fail:
+  error(SD_CARD_ERROR_WRITE_MULTIPLE);
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+// send one block of data for write block or write multiple blocks
+bool Sd2Card::writeData(uint8_t token, const uint8_t* src) {
+  spiSendBlock(token, src);
+
+  spiSend(0xff);  // dummy crc
+  spiSend(0xff);  // dummy crc
+
+  status_ = spiRec();
+  if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
+    error(SD_CARD_ERROR_WRITE);
+    goto fail;
+  }
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Start a write multiple blocks sequence.
+ *
+ * \param[in] blockNumber Address of first block in sequence.
+ * \param[in] eraseCount The number of blocks to be pre-erased.
+ *
+ * \note This function is used with writeData() and writeStop()
+ * for optimized multiple block writes.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
+  // send pre-erase count
+  if (cardAcmd(ACMD23, eraseCount)) {
+    error(SD_CARD_ERROR_ACMD23);
+    goto fail;
+  }
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+  if (cardCommand(CMD25, blockNumber)) {
+    error(SD_CARD_ERROR_CMD25);
+    goto fail;
+  }
+  chipSelectHigh();
+  return true;
+
+ fail:
+  chipSelectHigh();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** End a write multiple blocks sequence.
+ *
+* \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeStop() {
+  chipSelectLow();
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+  spiSend(STOP_TRAN_TOKEN);
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+  chipSelectHigh();
+  return true;
+
+ fail:
+  error(SD_CARD_ERROR_STOP_TRAN);
+  chipSelectHigh();
+  return false;
+}
+
+
+#endif

Marlin/Sd2Card.h

@@ -0,0 +1,241 @@
+/* Arduino Sd2Card Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino Sd2Card Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino Sd2Card Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef Sd2Card_h
+#define Sd2Card_h
+/**
+ * \file
+ * \brief Sd2Card class for V2 SD/SDHC cards
+ */
+#include "SdFatConfig.h"
+#include "Sd2PinMap.h"
+#include "SdInfo.h"
+//------------------------------------------------------------------------------
+// SPI speed is F_CPU/2^(1 + index), 0 <= index <= 6
+/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */
+uint8_t const SPI_FULL_SPEED = 0;
+/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */
+uint8_t const SPI_HALF_SPEED = 1;
+/** Set SCK rate to F_CPU/8. See Sd2Card::setSckRate(). */
+uint8_t const SPI_QUARTER_SPEED = 2;
+/** Set SCK rate to F_CPU/16. See Sd2Card::setSckRate(). */
+uint8_t const SPI_EIGHTH_SPEED = 3;
+/** Set SCK rate to F_CPU/32. See Sd2Card::setSckRate(). */
+uint8_t const SPI_SIXTEENTH_SPEED = 4;
+//------------------------------------------------------------------------------
+/** init timeout ms */
+uint16_t const SD_INIT_TIMEOUT = 2000;
+/** erase timeout ms */
+uint16_t const SD_ERASE_TIMEOUT = 10000;
+/** read timeout ms */
+uint16_t const SD_READ_TIMEOUT = 300;
+/** write time out ms */
+uint16_t const SD_WRITE_TIMEOUT = 600;
+//------------------------------------------------------------------------------
+// SD card errors
+/** timeout error for command CMD0 (initialize card in SPI mode) */
+uint8_t const SD_CARD_ERROR_CMD0 = 0X1;
+/** CMD8 was not accepted - not a valid SD card*/
+uint8_t const SD_CARD_ERROR_CMD8 = 0X2;
+/** card returned an error response for CMD12 (write stop) */
+uint8_t const SD_CARD_ERROR_CMD12 = 0X3;
+/** card returned an error response for CMD17 (read block) */
+uint8_t const SD_CARD_ERROR_CMD17 = 0X4;
+/** card returned an error response for CMD18 (read multiple block) */
+uint8_t const SD_CARD_ERROR_CMD18 = 0X5;
+/** card returned an error response for CMD24 (write block) */
+uint8_t const SD_CARD_ERROR_CMD24 = 0X6;
+/**  WRITE_MULTIPLE_BLOCKS command failed */
+uint8_t const SD_CARD_ERROR_CMD25 = 0X7;
+/** card returned an error response for CMD58 (read OCR) */
+uint8_t const SD_CARD_ERROR_CMD58 = 0X8;
+/** SET_WR_BLK_ERASE_COUNT failed */
+uint8_t const SD_CARD_ERROR_ACMD23 = 0X9;
+/** ACMD41 initialization process timeout */
+uint8_t const SD_CARD_ERROR_ACMD41 = 0XA;
+/** card returned a bad CSR version field */
+uint8_t const SD_CARD_ERROR_BAD_CSD = 0XB;
+/** erase block group command failed */
+uint8_t const SD_CARD_ERROR_ERASE = 0XC;
+/** card not capable of single block erase */
+uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0XD;
+/** Erase sequence timed out */
+uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0XE;
+/** card returned an error token instead of read data */
+uint8_t const SD_CARD_ERROR_READ = 0XF;
+/** read CID or CSD failed */
+uint8_t const SD_CARD_ERROR_READ_REG = 0X10;
+/** timeout while waiting for start of read data */
+uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X11;
+/** card did not accept STOP_TRAN_TOKEN */
+uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X12;
+/** card returned an error token as a response to a write operation */
+uint8_t const SD_CARD_ERROR_WRITE = 0X13;
+/** attempt to write protected block zero */
+uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X14;  // REMOVE - not used
+/** card did not go ready for a multiple block write */
+uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X15;
+/** card returned an error to a CMD13 status check after a write */
+uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X16;
+/** timeout occurred during write programming */
+uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X17;
+/** incorrect rate selected */
+uint8_t const SD_CARD_ERROR_SCK_RATE = 0X18;
+/** init() not called */
+uint8_t const SD_CARD_ERROR_INIT_NOT_CALLED = 0X19;
+//------------------------------------------------------------------------------
+// card types
+/** Standard capacity V1 SD card */
+uint8_t const SD_CARD_TYPE_SD1  = 1;
+/** Standard capacity V2 SD card */
+uint8_t const SD_CARD_TYPE_SD2  = 2;
+/** High Capacity SD card */
+uint8_t const SD_CARD_TYPE_SDHC = 3;
+/**
+ * define SOFTWARE_SPI to use bit-bang SPI
+ */
+//------------------------------------------------------------------------------
+#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__))
+#define SOFTWARE_SPI
+#elif USE_SOFTWARE_SPI
+#define SOFTWARE_SPI
+#endif  // MEGA_SOFT_SPI
+//------------------------------------------------------------------------------
+// SPI pin definitions - do not edit here - change in SdFatConfig.h
+//
+#ifndef SOFTWARE_SPI
+// hardware pin defs
+/** The default chip select pin for the SD card is SS. */
+uint8_t const  SD_CHIP_SELECT_PIN = SS_PIN;
+// The following three pins must not be redefined for hardware SPI.
+/** SPI Master Out Slave In pin */
+uint8_t const  SPI_MOSI_PIN = MOSI_PIN;
+/** SPI Master In Slave Out pin */
+uint8_t const  SPI_MISO_PIN = MISO_PIN;
+/** SPI Clock pin */
+uint8_t const  SPI_SCK_PIN = SCK_PIN;
+
+#else  // SOFTWARE_SPI
+
+/** SPI chip select pin */
+uint8_t const SD_CHIP_SELECT_PIN = SOFT_SPI_CS_PIN;
+/** SPI Master Out Slave In pin */
+uint8_t const SPI_MOSI_PIN = SOFT_SPI_MOSI_PIN;
+/** SPI Master In Slave Out pin */
+uint8_t const SPI_MISO_PIN = SOFT_SPI_MISO_PIN;
+/** SPI Clock pin */
+uint8_t const SPI_SCK_PIN = SOFT_SPI_SCK_PIN;
+#endif  // SOFTWARE_SPI
+//------------------------------------------------------------------------------
+/**
+ * \class Sd2Card
+ * \brief Raw access to SD and SDHC flash memory cards.
+ */
+class Sd2Card {
+ public:
+  /** Construct an instance of Sd2Card. */
+  Sd2Card() : errorCode_(SD_CARD_ERROR_INIT_NOT_CALLED), type_(0) {}
+  uint32_t cardSize();
+  bool erase(uint32_t firstBlock, uint32_t lastBlock);
+  bool eraseSingleBlockEnable();
+  /**
+   *  Set SD error code.
+   *  \param[in] code value for error code.
+   */
+  void error(uint8_t code) {errorCode_ = code;}
+  /**
+   * \return error code for last error. See Sd2Card.h for a list of error codes.
+   */
+  int errorCode() const {return errorCode_;}
+  /** \return error data for last error. */
+  int errorData() const {return status_;}
+  /**
+   * Initialize an SD flash memory card with default clock rate and chip
+   * select pin.  See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
+   *
+   * \return true for success or false for failure.
+   */
+  bool init(uint8_t sckRateID = SPI_FULL_SPEED,
+    uint8_t chipSelectPin = SD_CHIP_SELECT_PIN);
+  bool readBlock(uint32_t block, uint8_t* dst);
+  /**
+   * Read a card's CID register. The CID contains card identification
+   * information such as Manufacturer ID, Product name, Product serial
+   * number and Manufacturing date. 
+   *
+   * \param[out] cid pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCID(cid_t* cid) {
+    return readRegister(CMD10, cid);
+  }
+  /**
+   * Read a card's CSD register. The CSD contains Card-Specific Data that
+   * provides information regarding access to the card's contents.
+   *
+   * \param[out] csd pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCSD(csd_t* csd) {
+    return readRegister(CMD9, csd);
+  }
+  bool readData(uint8_t *dst);
+  bool readStart(uint32_t blockNumber);
+  bool readStop();
+  bool setSckRate(uint8_t sckRateID);
+  /** Return the card type: SD V1, SD V2 or SDHC
+   * \return 0 - SD V1, 1 - SD V2, or 3 - SDHC.
+   */
+  int type() const {return type_;}
+  bool writeBlock(uint32_t blockNumber, const uint8_t* src);
+  bool writeData(const uint8_t* src);
+  bool writeStart(uint32_t blockNumber, uint32_t eraseCount);
+  bool writeStop();
+ private:
+  //----------------------------------------------------------------------------
+  uint8_t chipSelectPin_;
+  uint8_t errorCode_;
+  uint8_t spiRate_;
+  uint8_t status_;
+  uint8_t type_;
+  // private functions
+  uint8_t cardAcmd(uint8_t cmd, uint32_t arg) {
+    cardCommand(CMD55, 0);
+    return cardCommand(cmd, arg);
+  }
+  uint8_t cardCommand(uint8_t cmd, uint32_t arg);
+
+  bool readData(uint8_t* dst, uint16_t count);
+  bool readRegister(uint8_t cmd, void* buf);
+  void chipSelectHigh();
+  void chipSelectLow();
+  void type(uint8_t value) {type_ = value;}
+  bool waitNotBusy(uint16_t timeoutMillis);
+  bool writeData(uint8_t token, const uint8_t* src);
+};
+#endif  // Sd2Card_h
+
+
+#endif

Marlin/Sd2PinMap.h

@@ -0,0 +1,368 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2010 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+// Warning this file was generated by a program.
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef Sd2PinMap_h
+#define Sd2PinMap_h
+#include <avr/io.h>
+//------------------------------------------------------------------------------
+/** struct for mapping digital pins */
+struct pin_map_t {
+  volatile uint8_t* ddr;
+  volatile uint8_t* pin;
+  volatile uint8_t* port;
+  uint8_t bit;
+};
+//------------------------------------------------------------------------------
+#if defined(__AVR_ATmega1280__)\
+|| defined(__AVR_ATmega2560__)
+// Mega
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 20;  // D1
+uint8_t const SCL_PIN = 21;  // D0
+
+#undef MOSI_PIN
+#undef MISO_PIN
+// SPI port
+uint8_t const SS_PIN = 53;    // B0
+uint8_t const MOSI_PIN = 51;  // B2
+uint8_t const MISO_PIN = 50;  // B3
+uint8_t const SCK_PIN = 52;   // B1
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRE, &PINE, &PORTE, 0},  // E0  0
+  {&DDRE, &PINE, &PORTE, 1},  // E1  1
+  {&DDRE, &PINE, &PORTE, 4},  // E4  2
+  {&DDRE, &PINE, &PORTE, 5},  // E5  3
+  {&DDRG, &PING, &PORTG, 5},  // G5  4
+  {&DDRE, &PINE, &PORTE, 3},  // E3  5
+  {&DDRH, &PINH, &PORTH, 3},  // H3  6
+  {&DDRH, &PINH, &PORTH, 4},  // H4  7
+  {&DDRH, &PINH, &PORTH, 5},  // H5  8
+  {&DDRH, &PINH, &PORTH, 6},  // H6  9
+  {&DDRB, &PINB, &PORTB, 4},  // B4 10
+  {&DDRB, &PINB, &PORTB, 5},  // B5 11
+  {&DDRB, &PINB, &PORTB, 6},  // B6 12
+  {&DDRB, &PINB, &PORTB, 7},  // B7 13
+  {&DDRJ, &PINJ, &PORTJ, 1},  // J1 14
+  {&DDRJ, &PINJ, &PORTJ, 0},  // J0 15
+  {&DDRH, &PINH, &PORTH, 1},  // H1 16
+  {&DDRH, &PINH, &PORTH, 0},  // H0 17
+  {&DDRD, &PIND, &PORTD, 3},  // D3 18
+  {&DDRD, &PIND, &PORTD, 2},  // D2 19
+  {&DDRD, &PIND, &PORTD, 1},  // D1 20
+  {&DDRD, &PIND, &PORTD, 0},  // D0 21
+  {&DDRA, &PINA, &PORTA, 0},  // A0 22
+  {&DDRA, &PINA, &PORTA, 1},  // A1 23
+  {&DDRA, &PINA, &PORTA, 2},  // A2 24
+  {&DDRA, &PINA, &PORTA, 3},  // A3 25
+  {&DDRA, &PINA, &PORTA, 4},  // A4 26
+  {&DDRA, &PINA, &PORTA, 5},  // A5 27
+  {&DDRA, &PINA, &PORTA, 6},  // A6 28
+  {&DDRA, &PINA, &PORTA, 7},  // A7 29
+  {&DDRC, &PINC, &PORTC, 7},  // C7 30
+  {&DDRC, &PINC, &PORTC, 6},  // C6 31
+  {&DDRC, &PINC, &PORTC, 5},  // C5 32
+  {&DDRC, &PINC, &PORTC, 4},  // C4 33
+  {&DDRC, &PINC, &PORTC, 3},  // C3 34
+  {&DDRC, &PINC, &PORTC, 2},  // C2 35
+  {&DDRC, &PINC, &PORTC, 1},  // C1 36
+  {&DDRC, &PINC, &PORTC, 0},  // C0 37
+  {&DDRD, &PIND, &PORTD, 7},  // D7 38
+  {&DDRG, &PING, &PORTG, 2},  // G2 39
+  {&DDRG, &PING, &PORTG, 1},  // G1 40
+  {&DDRG, &PING, &PORTG, 0},  // G0 41
+  {&DDRL, &PINL, &PORTL, 7},  // L7 42
+  {&DDRL, &PINL, &PORTL, 6},  // L6 43
+  {&DDRL, &PINL, &PORTL, 5},  // L5 44
+  {&DDRL, &PINL, &PORTL, 4},  // L4 45
+  {&DDRL, &PINL, &PORTL, 3},  // L3 46
+  {&DDRL, &PINL, &PORTL, 2},  // L2 47
+  {&DDRL, &PINL, &PORTL, 1},  // L1 48
+  {&DDRL, &PINL, &PORTL, 0},  // L0 49
+  {&DDRB, &PINB, &PORTB, 3},  // B3 50
+  {&DDRB, &PINB, &PORTB, 2},  // B2 51
+  {&DDRB, &PINB, &PORTB, 1},  // B1 52
+  {&DDRB, &PINB, &PORTB, 0},  // B0 53
+  {&DDRF, &PINF, &PORTF, 0},  // F0 54
+  {&DDRF, &PINF, &PORTF, 1},  // F1 55
+  {&DDRF, &PINF, &PORTF, 2},  // F2 56
+  {&DDRF, &PINF, &PORTF, 3},  // F3 57
+  {&DDRF, &PINF, &PORTF, 4},  // F4 58
+  {&DDRF, &PINF, &PORTF, 5},  // F5 59
+  {&DDRF, &PINF, &PORTF, 6},  // F6 60
+  {&DDRF, &PINF, &PORTF, 7},  // F7 61
+  {&DDRK, &PINK, &PORTK, 0},  // K0 62
+  {&DDRK, &PINK, &PORTK, 1},  // K1 63
+  {&DDRK, &PINK, &PORTK, 2},  // K2 64
+  {&DDRK, &PINK, &PORTK, 3},  // K3 65
+  {&DDRK, &PINK, &PORTK, 4},  // K4 66
+  {&DDRK, &PINK, &PORTK, 5},  // K5 67
+  {&DDRK, &PINK, &PORTK, 6},  // K6 68
+  {&DDRK, &PINK, &PORTK, 7}   // K7 69
+};
+//------------------------------------------------------------------------------
+#elif defined(__AVR_ATmega644P__)\
+|| defined(__AVR_ATmega644__)\
+|| defined(__AVR_ATmega1284P__)
+// Sanguino
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 17;  // C1
+uint8_t const SCL_PIN = 18;  // C2
+
+// SPI port
+uint8_t const SS_PIN = 4;    // B4
+uint8_t const MOSI_PIN = 5;  // B5
+uint8_t const MISO_PIN = 6;  // B6
+uint8_t const SCK_PIN = 7;   // B7
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRB, &PINB, &PORTB, 0},  // B0  0
+  {&DDRB, &PINB, &PORTB, 1},  // B1  1
+  {&DDRB, &PINB, &PORTB, 2},  // B2  2
+  {&DDRB, &PINB, &PORTB, 3},  // B3  3
+  {&DDRB, &PINB, &PORTB, 4},  // B4  4
+  {&DDRB, &PINB, &PORTB, 5},  // B5  5
+  {&DDRB, &PINB, &PORTB, 6},  // B6  6
+  {&DDRB, &PINB, &PORTB, 7},  // B7  7
+  {&DDRD, &PIND, &PORTD, 0},  // D0  8
+  {&DDRD, &PIND, &PORTD, 1},  // D1  9
+  {&DDRD, &PIND, &PORTD, 2},  // D2 10
+  {&DDRD, &PIND, &PORTD, 3},  // D3 11
+  {&DDRD, &PIND, &PORTD, 4},  // D4 12
+  {&DDRD, &PIND, &PORTD, 5},  // D5 13
+  {&DDRD, &PIND, &PORTD, 6},  // D6 14
+  {&DDRD, &PIND, &PORTD, 7},  // D7 15
+  {&DDRC, &PINC, &PORTC, 0},  // C0 16
+  {&DDRC, &PINC, &PORTC, 1},  // C1 17
+  {&DDRC, &PINC, &PORTC, 2},  // C2 18
+  {&DDRC, &PINC, &PORTC, 3},  // C3 19
+  {&DDRC, &PINC, &PORTC, 4},  // C4 20
+  {&DDRC, &PINC, &PORTC, 5},  // C5 21
+  {&DDRC, &PINC, &PORTC, 6},  // C6 22
+  {&DDRC, &PINC, &PORTC, 7},  // C7 23
+  {&DDRA, &PINA, &PORTA, 7},  // A7 24
+  {&DDRA, &PINA, &PORTA, 6},  // A6 25
+  {&DDRA, &PINA, &PORTA, 5},  // A5 26
+  {&DDRA, &PINA, &PORTA, 4},  // A4 27
+  {&DDRA, &PINA, &PORTA, 3},  // A3 28
+  {&DDRA, &PINA, &PORTA, 2},  // A2 29
+  {&DDRA, &PINA, &PORTA, 1},  // A1 30
+  {&DDRA, &PINA, &PORTA, 0}   // A0 31
+};
+//------------------------------------------------------------------------------
+#elif defined(__AVR_ATmega32U4__)
+// Teensy 2.0
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 6;  // D1
+uint8_t const SCL_PIN = 5;  // D0
+
+// SPI port
+uint8_t const SS_PIN = 0;    // B0
+uint8_t const MOSI_PIN = 2;  // B2
+uint8_t const MISO_PIN = 3;  // B3
+uint8_t const SCK_PIN = 1;   // B1
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRB, &PINB, &PORTB, 0},  // B0  0
+  {&DDRB, &PINB, &PORTB, 1},  // B1  1
+  {&DDRB, &PINB, &PORTB, 2},  // B2  2
+  {&DDRB, &PINB, &PORTB, 3},  // B3  3
+  {&DDRB, &PINB, &PORTB, 7},  // B7  4
+  {&DDRD, &PIND, &PORTD, 0},  // D0  5
+  {&DDRD, &PIND, &PORTD, 1},  // D1  6
+  {&DDRD, &PIND, &PORTD, 2},  // D2  7
+  {&DDRD, &PIND, &PORTD, 3},  // D3  8
+  {&DDRC, &PINC, &PORTC, 6},  // C6  9
+  {&DDRC, &PINC, &PORTC, 7},  // C7 10
+  {&DDRD, &PIND, &PORTD, 6},  // D6 11
+  {&DDRD, &PIND, &PORTD, 7},  // D7 12
+  {&DDRB, &PINB, &PORTB, 4},  // B4 13
+  {&DDRB, &PINB, &PORTB, 5},  // B5 14
+  {&DDRB, &PINB, &PORTB, 6},  // B6 15
+  {&DDRF, &PINF, &PORTF, 7},  // F7 16
+  {&DDRF, &PINF, &PORTF, 6},  // F6 17
+  {&DDRF, &PINF, &PORTF, 5},  // F5 18
+  {&DDRF, &PINF, &PORTF, 4},  // F4 19
+  {&DDRF, &PINF, &PORTF, 1},  // F1 20
+  {&DDRF, &PINF, &PORTF, 0},  // F0 21
+  {&DDRD, &PIND, &PORTD, 4},  // D4 22
+  {&DDRD, &PIND, &PORTD, 5},  // D5 23
+  {&DDRE, &PINE, &PORTE, 6}   // E6 24
+};
+//------------------------------------------------------------------------------
+#elif defined(__AVR_AT90USB646__)\
+|| defined(__AVR_AT90USB1286__)
+// Teensy++ 1.0 & 2.0
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 1;  // D1
+uint8_t const SCL_PIN = 0;  // D0
+
+// SPI port
+uint8_t const SS_PIN = 20;    // B0
+uint8_t const MOSI_PIN = 22;  // B2
+uint8_t const MISO_PIN = 23;  // B3
+uint8_t const SCK_PIN = 21;   // B1
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRD, &PIND, &PORTD, 0},  // D0  0
+  {&DDRD, &PIND, &PORTD, 1},  // D1  1
+  {&DDRD, &PIND, &PORTD, 2},  // D2  2
+  {&DDRD, &PIND, &PORTD, 3},  // D3  3
+  {&DDRD, &PIND, &PORTD, 4},  // D4  4
+  {&DDRD, &PIND, &PORTD, 5},  // D5  5
+  {&DDRD, &PIND, &PORTD, 6},  // D6  6
+  {&DDRD, &PIND, &PORTD, 7},  // D7  7
+  {&DDRE, &PINE, &PORTE, 0},  // E0  8
+  {&DDRE, &PINE, &PORTE, 1},  // E1  9
+  {&DDRC, &PINC, &PORTC, 0},  // C0 10
+  {&DDRC, &PINC, &PORTC, 1},  // C1 11
+  {&DDRC, &PINC, &PORTC, 2},  // C2 12
+  {&DDRC, &PINC, &PORTC, 3},  // C3 13
+  {&DDRC, &PINC, &PORTC, 4},  // C4 14
+  {&DDRC, &PINC, &PORTC, 5},  // C5 15
+  {&DDRC, &PINC, &PORTC, 6},  // C6 16
+  {&DDRC, &PINC, &PORTC, 7},  // C7 17
+  {&DDRE, &PINE, &PORTE, 6},  // E6 18
+  {&DDRE, &PINE, &PORTE, 7},  // E7 19
+  {&DDRB, &PINB, &PORTB, 0},  // B0 20
+  {&DDRB, &PINB, &PORTB, 1},  // B1 21
+  {&DDRB, &PINB, &PORTB, 2},  // B2 22
+  {&DDRB, &PINB, &PORTB, 3},  // B3 23
+  {&DDRB, &PINB, &PORTB, 4},  // B4 24
+  {&DDRB, &PINB, &PORTB, 5},  // B5 25
+  {&DDRB, &PINB, &PORTB, 6},  // B6 26
+  {&DDRB, &PINB, &PORTB, 7},  // B7 27
+  {&DDRA, &PINA, &PORTA, 0},  // A0 28
+  {&DDRA, &PINA, &PORTA, 1},  // A1 29
+  {&DDRA, &PINA, &PORTA, 2},  // A2 30
+  {&DDRA, &PINA, &PORTA, 3},  // A3 31
+  {&DDRA, &PINA, &PORTA, 4},  // A4 32
+  {&DDRA, &PINA, &PORTA, 5},  // A5 33
+  {&DDRA, &PINA, &PORTA, 6},  // A6 34
+  {&DDRA, &PINA, &PORTA, 7},  // A7 35
+  {&DDRE, &PINE, &PORTE, 4},  // E4 36
+  {&DDRE, &PINE, &PORTE, 5},  // E5 37
+  {&DDRF, &PINF, &PORTF, 0},  // F0 38
+  {&DDRF, &PINF, &PORTF, 1},  // F1 39
+  {&DDRF, &PINF, &PORTF, 2},  // F2 40
+  {&DDRF, &PINF, &PORTF, 3},  // F3 41
+  {&DDRF, &PINF, &PORTF, 4},  // F4 42
+  {&DDRF, &PINF, &PORTF, 5},  // F5 43
+  {&DDRF, &PINF, &PORTF, 6},  // F6 44
+  {&DDRF, &PINF, &PORTF, 7}   // F7 45
+};
+//------------------------------------------------------------------------------
+#elif defined(__AVR_ATmega168__)\
+||defined(__AVR_ATmega168P__)\
+||defined(__AVR_ATmega328P__)
+// 168 and 328 Arduinos
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 18;  // C4
+uint8_t const SCL_PIN = 19;  // C5
+
+// SPI port
+uint8_t const SS_PIN = 10;    // B2
+uint8_t const MOSI_PIN = 11;  // B3
+uint8_t const MISO_PIN = 12;  // B4
+uint8_t const SCK_PIN = 13;   // B5
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRD, &PIND, &PORTD, 0},  // D0  0
+  {&DDRD, &PIND, &PORTD, 1},  // D1  1
+  {&DDRD, &PIND, &PORTD, 2},  // D2  2
+  {&DDRD, &PIND, &PORTD, 3},  // D3  3
+  {&DDRD, &PIND, &PORTD, 4},  // D4  4
+  {&DDRD, &PIND, &PORTD, 5},  // D5  5
+  {&DDRD, &PIND, &PORTD, 6},  // D6  6
+  {&DDRD, &PIND, &PORTD, 7},  // D7  7
+  {&DDRB, &PINB, &PORTB, 0},  // B0  8
+  {&DDRB, &PINB, &PORTB, 1},  // B1  9
+  {&DDRB, &PINB, &PORTB, 2},  // B2 10
+  {&DDRB, &PINB, &PORTB, 3},  // B3 11
+  {&DDRB, &PINB, &PORTB, 4},  // B4 12
+  {&DDRB, &PINB, &PORTB, 5},  // B5 13
+  {&DDRC, &PINC, &PORTC, 0},  // C0 14
+  {&DDRC, &PINC, &PORTC, 1},  // C1 15
+  {&DDRC, &PINC, &PORTC, 2},  // C2 16
+  {&DDRC, &PINC, &PORTC, 3},  // C3 17
+  {&DDRC, &PINC, &PORTC, 4},  // C4 18
+  {&DDRC, &PINC, &PORTC, 5}   // C5 19
+};
+#else  // defined(__AVR_ATmega1280__)
+#error unknown chip
+#endif  // defined(__AVR_ATmega1280__)
+//------------------------------------------------------------------------------
+static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t);
+
+uint8_t badPinNumber(void)
+  __attribute__((error("Pin number is too large or not a constant")));
+
+static inline __attribute__((always_inline))
+  bool getPinMode(uint8_t pin) {
+  if (__builtin_constant_p(pin) && pin < digitalPinCount) {
+    return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1;
+  } else {
+    return badPinNumber();
+  }
+}
+static inline __attribute__((always_inline))
+  void setPinMode(uint8_t pin, uint8_t mode) {
+  if (__builtin_constant_p(pin) && pin < digitalPinCount) {
+    if (mode) {
+      *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;
+    } else {
+      *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
+    }
+  } else {
+    badPinNumber();
+  }
+}
+static inline __attribute__((always_inline))
+  bool fastDigitalRead(uint8_t pin) {
+  if (__builtin_constant_p(pin) && pin < digitalPinCount) {
+    return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1;
+  } else {
+    return badPinNumber();
+  }
+}
+static inline __attribute__((always_inline))
+  void fastDigitalWrite(uint8_t pin, uint8_t value) {
+  if (__builtin_constant_p(pin) && pin < digitalPinCount) {
+    if (value) {
+      *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;
+    } else {
+      *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
+    }
+  } else {
+    badPinNumber();
+  }
+}
+#endif  // Sd2PinMap_h
+
+
+#endif

Marlin/SdBaseFile.h

@@ -0,0 +1,483 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef SdBaseFile_h
+#define SdBaseFile_h
+/**
+ * \file
+ * \brief SdBaseFile class
+ */
+#include "Marlin.h"
+#include "SdFatConfig.h"
+#include "SdVolume.h"
+//------------------------------------------------------------------------------
+/**
+ * \struct fpos_t
+ * \brief internal type for istream
+ * do not use in user apps
+ */
+struct fpos_t {
+  /** stream position */
+  uint32_t position;
+  /** cluster for position */
+  uint32_t cluster;
+  fpos_t() : position(0), cluster(0) {}
+};
+
+// use the gnu style oflag in open()
+/** open() oflag for reading */
+uint8_t const O_READ = 0X01;
+/** open() oflag - same as O_IN */
+uint8_t const O_RDONLY = O_READ;
+/** open() oflag for write */
+uint8_t const O_WRITE = 0X02;
+/** open() oflag - same as O_WRITE */
+uint8_t const O_WRONLY = O_WRITE;
+/** open() oflag for reading and writing */
+uint8_t const O_RDWR = (O_READ | O_WRITE);
+/** open() oflag mask for access modes */
+uint8_t const O_ACCMODE = (O_READ | O_WRITE);
+/** The file offset shall be set to the end of the file prior to each write. */
+uint8_t const O_APPEND = 0X04;
+/** synchronous writes - call sync() after each write */
+uint8_t const O_SYNC = 0X08;
+/** truncate the file to zero length */
+uint8_t const O_TRUNC = 0X10;
+/** set the initial position at the end of the file */
+uint8_t const O_AT_END = 0X20;
+/** create the file if nonexistent */
+uint8_t const O_CREAT = 0X40;
+/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */
+uint8_t const O_EXCL = 0X80;
+
+// SdBaseFile class static and const definitions
+// flags for ls()
+/** ls() flag to print modify date */
+uint8_t const LS_DATE = 1;
+/** ls() flag to print file size */
+uint8_t const LS_SIZE = 2;
+/** ls() flag for recursive list of subdirectories */
+uint8_t const LS_R = 4;
+
+
+// flags for timestamp
+/** set the file's last access date */
+uint8_t const T_ACCESS = 1;
+/** set the file's creation date and time */
+uint8_t const T_CREATE = 2;
+/** Set the file's write date and time */
+uint8_t const T_WRITE = 4;
+// values for type_
+/** This file has not been opened. */
+uint8_t const FAT_FILE_TYPE_CLOSED = 0;
+/** A normal file */
+uint8_t const FAT_FILE_TYPE_NORMAL = 1;
+/** A FAT12 or FAT16 root directory */
+uint8_t const FAT_FILE_TYPE_ROOT_FIXED = 2;
+/** A FAT32 root directory */
+uint8_t const FAT_FILE_TYPE_ROOT32 = 3;
+/** A subdirectory file*/
+uint8_t const FAT_FILE_TYPE_SUBDIR = 4;
+/** Test value for directory type */
+uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT_FIXED;
+
+/** date field for FAT directory entry
+ * \param[in] year [1980,2107]
+ * \param[in] month [1,12]
+ * \param[in] day [1,31]
+ *
+ * \return Packed date for dir_t entry.
+ */
+static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) {
+  return (year - 1980) << 9 | month << 5 | day;
+}
+/** year part of FAT directory date field
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted year [1980,2107]
+ */
+static inline uint16_t FAT_YEAR(uint16_t fatDate) {
+  return 1980 + (fatDate >> 9);
+}
+/** month part of FAT directory date field
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted month [1,12]
+ */
+static inline uint8_t FAT_MONTH(uint16_t fatDate) {
+  return (fatDate >> 5) & 0XF;
+}
+/** day part of FAT directory date field
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted day [1,31]
+ */
+static inline uint8_t FAT_DAY(uint16_t fatDate) {
+  return fatDate & 0X1F;
+}
+/** time field for FAT directory entry
+ * \param[in] hour [0,23]
+ * \param[in] minute [0,59]
+ * \param[in] second [0,59]
+ *
+ * \return Packed time for dir_t entry.
+ */
+static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) {
+  return hour << 11 | minute << 5 | second >> 1;
+}
+/** hour part of FAT directory time field
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted hour [0,23]
+ */
+static inline uint8_t FAT_HOUR(uint16_t fatTime) {
+  return fatTime >> 11;
+}
+/** minute part of FAT directory time field
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted minute [0,59]
+ */
+static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
+  return(fatTime >> 5) & 0X3F;
+}
+/** second part of FAT directory time field
+ * Note second/2 is stored in packed time.
+ *
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted second [0,58]
+ */
+static inline uint8_t FAT_SECOND(uint16_t fatTime) {
+  return 2*(fatTime & 0X1F);
+}
+/** Default date for file timestamps is 1 Jan 2000 */
+uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
+/** Default time for file timestamp is 1 am */
+uint16_t const FAT_DEFAULT_TIME = (1 << 11);
+//------------------------------------------------------------------------------
+/**
+ * \class SdBaseFile
+ * \brief Base class for SdFile with Print and C++ streams.
+ */
+class SdBaseFile {
+ public:
+  /** Create an instance. */
+  SdBaseFile() : writeError(false), type_(FAT_FILE_TYPE_CLOSED) {}
+  SdBaseFile(const char* path, uint8_t oflag);
+  ~SdBaseFile() {if(isOpen()) close();}
+  /**
+   * writeError is set to true if an error occurs during a write().
+   * Set writeError to false before calling print() and/or write() and check
+   * for true after calls to print() and/or write().
+   */
+  bool writeError;
+  //----------------------------------------------------------------------------
+  // helpers for stream classes
+  /** get position for streams
+   * \param[out] pos struct to receive position
+   */
+  void getpos(fpos_t* pos);
+  /** set position for streams
+   * \param[out] pos struct with value for new position
+   */
+  void setpos(fpos_t* pos);
+  //----------------------------------------------------------------------------
+  bool close();
+  bool contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
+  bool createContiguous(SdBaseFile* dirFile,
+          const char* path, uint32_t size);
+  /** \return The current cluster number for a file or directory. */
+  uint32_t curCluster() const {return curCluster_;}
+  /** \return The current position for a file or directory. */
+  uint32_t curPosition() const {return curPosition_;}
+  /** \return Current working directory */
+  static SdBaseFile* cwd() {return cwd_;}
+  /** Set the date/time callback function
+   *
+   * \param[in] dateTime The user's call back function.  The callback
+   * function is of the form:
+   *
+   * \code
+   * void dateTime(uint16_t* date, uint16_t* time) {
+   *   uint16_t year;
+   *   uint8_t month, day, hour, minute, second;
+   *
+   *   // User gets date and time from GPS or real-time clock here
+   *
+   *   // return date using FAT_DATE macro to format fields
+   *   *date = FAT_DATE(year, month, day);
+   *
+   *   // return time using FAT_TIME macro to format fields
+   *   *time = FAT_TIME(hour, minute, second);
+   * }
+   * \endcode
+   *
+   * Sets the function that is called when a file is created or when
+   * a file's directory entry is modified by sync(). All timestamps,
+   * access, creation, and modify, are set when a file is created.
+   * sync() maintains the last access date and last modify date/time.
+   *
+   * See the timestamp() function.
+   */
+  static void dateTimeCallback(
+    void (*dateTime)(uint16_t* date, uint16_t* time)) {
+    dateTime_ = dateTime;
+  }
+  /**  Cancel the date/time callback function. */
+  static void dateTimeCallbackCancel() {dateTime_ = 0;}
+  bool dirEntry(dir_t* dir);
+  static void dirName(const dir_t& dir, char* name);
+  bool exists(const char* name);
+  int16_t fgets(char* str, int16_t num, char* delim = 0);
+  /** \return The total number of bytes in a file or directory. */
+  uint32_t fileSize() const {return fileSize_;}
+  /** \return The first cluster number for a file or directory. */
+  uint32_t firstCluster() const {return firstCluster_;}
+  bool getFilename(char* name);
+  /** \return True if this is a directory else false. */
+  bool isDir() const {return type_ >= FAT_FILE_TYPE_MIN_DIR;}
+  /** \return True if this is a normal file else false. */
+  bool isFile() const {return type_ == FAT_FILE_TYPE_NORMAL;}
+  /** \return True if this is an open file/directory else false. */
+  bool isOpen() const {return type_ != FAT_FILE_TYPE_CLOSED;}
+  /** \return True if this is a subdirectory else false. */
+  bool isSubDir() const {return type_ == FAT_FILE_TYPE_SUBDIR;}
+  /** \return True if this is the root directory. */
+  bool isRoot() const {
+    return type_ == FAT_FILE_TYPE_ROOT_FIXED || type_ == FAT_FILE_TYPE_ROOT32;
+  }
+  void ls( uint8_t flags = 0, uint8_t indent = 0);
+  bool mkdir(SdBaseFile* dir, const char* path, bool pFlag = true);
+  // alias for backward compactability
+  bool makeDir(SdBaseFile* dir, const char* path) {
+    return mkdir(dir, path, false);
+  }
+  bool open(SdBaseFile* dirFile, uint16_t index, uint8_t oflag);
+  bool open(SdBaseFile* dirFile, const char* path, uint8_t oflag);
+  bool open(const char* path, uint8_t oflag = O_READ);
+  bool openNext(SdBaseFile* dirFile, uint8_t oflag);
+  bool openRoot(SdVolume* vol);
+  int peek();
+  static void printFatDate(uint16_t fatDate);
+  static void printFatTime( uint16_t fatTime);
+  bool printName();
+  int16_t read();
+  int16_t read(void* buf, uint16_t nbyte);
+  int8_t readDir(dir_t* dir);
+  static bool remove(SdBaseFile* dirFile, const char* path);
+  bool remove();
+  /** Set the file's current position to zero. */
+  void rewind() {seekSet(0);}
+  bool rename(SdBaseFile* dirFile, const char* newPath);
+  bool rmdir();
+  // for backward compatibility
+  bool rmDir() {return rmdir();}
+  bool rmRfStar();
+  /** Set the files position to current position + \a pos. See seekSet().
+   * \param[in] offset The new position in bytes from the current position.
+   * \return true for success or false for failure.
+   */
+  bool seekCur(int32_t offset) {
+    return seekSet(curPosition_ + offset);
+  }
+  /** Set the files position to end-of-file + \a offset. See seekSet().
+   * \param[in] offset The new position in bytes from end-of-file.
+   * \return true for success or false for failure.
+   */
+  bool seekEnd(int32_t offset = 0) {return seekSet(fileSize_ + offset);}
+  bool seekSet(uint32_t pos);
+  bool sync();
+  bool timestamp(SdBaseFile* file);
+  bool timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day,
+          uint8_t hour, uint8_t minute, uint8_t second);
+  /** Type of file.  You should use isFile() or isDir() instead of type()
+   * if possible.
+   *
+   * \return The file or directory type.
+   */
+  uint8_t type() const {return type_;}
+  bool truncate(uint32_t size);
+  /** \return SdVolume that contains this file. */
+  SdVolume* volume() const {return vol_;}
+  int16_t write(const void* buf, uint16_t nbyte);
+//------------------------------------------------------------------------------
+ private:
+  // allow SdFat to set cwd_
+  friend class SdFat;
+  // global pointer to cwd dir
+  static SdBaseFile* cwd_;
+  // data time callback function
+  static void (*dateTime_)(uint16_t* date, uint16_t* time);
+  // bits defined in flags_
+  // should be 0X0F
+  static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC);
+  // sync of directory entry required
+  static uint8_t const F_FILE_DIR_DIRTY = 0X80;
+
+  // private data
+  uint8_t   flags_;         // See above for definition of flags_ bits
+  uint8_t   fstate_;        // error and eof indicator
+  uint8_t   type_;          // type of file see above for values
+  uint32_t  curCluster_;    // cluster for current file position
+  uint32_t  curPosition_;   // current file position in bytes from beginning
+  uint32_t  dirBlock_;      // block for this files directory entry
+  uint8_t   dirIndex_;      // index of directory entry in dirBlock
+  uint32_t  fileSize_;      // file size in bytes
+  uint32_t  firstCluster_;  // first cluster of file
+  SdVolume* vol_;           // volume where file is located
+
+  /** experimental don't use */
+  bool openParent(SdBaseFile* dir);
+  // private functions
+  bool addCluster();
+  bool addDirCluster();
+  dir_t* cacheDirEntry(uint8_t action);
+  int8_t lsPrintNext( uint8_t flags, uint8_t indent);
+  static bool make83Name(const char* str, uint8_t* name, const char** ptr);
+  bool mkdir(SdBaseFile* parent, const uint8_t dname[11]);
+  bool open(SdBaseFile* dirFile, const uint8_t dname[11], uint8_t oflag);
+  bool openCachedEntry(uint8_t cacheIndex, uint8_t oflags);
+  dir_t* readDirCache();
+//------------------------------------------------------------------------------
+// to be deleted
+  static void printDirName( const dir_t& dir,
+    uint8_t width, bool printSlash);
+//------------------------------------------------------------------------------
+// Deprecated functions  - suppress cpplint warnings with NOLINT comment
+#if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN)
+ public:
+  /** \deprecated Use:
+   * bool contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
+   * \param[out] bgnBlock the first block address for the file.
+   * \param[out] endBlock the last  block address for the file.
+   * \return true for success or false for failure.
+   */
+  bool contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) {  // NOLINT
+    return contiguousRange(&bgnBlock, &endBlock);
+  }
+ /** \deprecated Use:
+   * bool createContiguous(SdBaseFile* dirFile,
+   *   const char* path, uint32_t size)
+   * \param[in] dirFile The directory where the file will be created.
+   * \param[in] path A path with a valid DOS 8.3 file name.
+   * \param[in] size The desired file size.
+   * \return true for success or false for failure.
+   */
+  bool createContiguous(SdBaseFile& dirFile,  // NOLINT
+    const char* path, uint32_t size) {
+    return createContiguous(&dirFile, path, size);
+  }
+  /** \deprecated Use:
+   * static void dateTimeCallback(
+   *   void (*dateTime)(uint16_t* date, uint16_t* time));
+   * \param[in] dateTime The user's call back function.
+   */
+  static void dateTimeCallback(
+    void (*dateTime)(uint16_t& date, uint16_t& time)) {  // NOLINT
+    oldDateTime_ = dateTime;
+    dateTime_ = dateTime ? oldToNew : 0;
+  }
+  /** \deprecated Use: bool dirEntry(dir_t* dir);
+   * \param[out] dir Location for return of the file's directory entry.
+   * \return true for success or false for failure.
+   */
+  bool dirEntry(dir_t& dir) {return dirEntry(&dir);}  // NOLINT
+  /** \deprecated Use:
+   * bool mkdir(SdBaseFile* dir, const char* path);
+   * \param[in] dir An open SdFat instance for the directory that will contain
+   * the new directory.
+   * \param[in] path A path with a valid 8.3 DOS name for the new directory.
+   * \return true for success or false for failure.
+   */
+  bool mkdir(SdBaseFile& dir, const char* path) {  // NOLINT
+    return mkdir(&dir, path);
+  }
+  /** \deprecated Use:
+   * bool open(SdBaseFile* dirFile, const char* path, uint8_t oflag);
+   * \param[in] dirFile An open SdFat instance for the directory containing the
+   * file to be opened.
+   * \param[in] path A path with a valid 8.3 DOS name for the file.
+   * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
+   * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC.
+   * \return true for success or false for failure.
+   */
+  bool open(SdBaseFile& dirFile, // NOLINT
+    const char* path, uint8_t oflag) {
+    return open(&dirFile, path, oflag);
+  }
+  /** \deprecated  Do not use in new apps
+   * \param[in] dirFile An open SdFat instance for the directory containing the
+   * file to be opened.
+   * \param[in] path A path with a valid 8.3 DOS name for a file to be opened.
+   * \return true for success or false for failure.
+   */
+  bool open(SdBaseFile& dirFile, const char* path) {  // NOLINT
+    return open(dirFile, path, O_RDWR);
+  }
+  /** \deprecated Use:
+   * bool open(SdBaseFile* dirFile, uint16_t index, uint8_t oflag);
+   * \param[in] dirFile An open SdFat instance for the directory.
+   * \param[in] index The \a index of the directory entry for the file to be
+   * opened.  The value for \a index is (directory file position)/32.
+   * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
+   * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC.
+   * \return true for success or false for failure.
+   */
+  bool open(SdBaseFile& dirFile, uint16_t index, uint8_t oflag) {  // NOLINT
+    return open(&dirFile, index, oflag);
+  }
+  /** \deprecated Use: bool openRoot(SdVolume* vol);
+   * \param[in] vol The FAT volume containing the root directory to be opened.
+   * \return true for success or false for failure.
+   */
+  bool openRoot(SdVolume& vol) {return openRoot(&vol);}  // NOLINT
+  /** \deprecated Use: int8_t readDir(dir_t* dir);
+   * \param[out] dir The dir_t struct that will receive the data.
+   * \return bytes read for success zero for eof or -1 for failure.
+   */
+  int8_t readDir(dir_t& dir) {return readDir(&dir);}  // NOLINT
+  /** \deprecated Use:
+   * static uint8_t remove(SdBaseFile* dirFile, const char* path);
+   * \param[in] dirFile The directory that contains the file.
+   * \param[in] path The name of the file to be removed.
+   * \return true for success or false for failure.
+   */
+  static bool remove(SdBaseFile& dirFile, const char* path) {  // NOLINT
+    return remove(&dirFile, path);
+  }
+//------------------------------------------------------------------------------
+// rest are private
+ private:
+  static void (*oldDateTime_)(uint16_t& date, uint16_t& time);  // NOLINT
+  static void oldToNew(uint16_t* date, uint16_t* time) {
+    uint16_t d;
+    uint16_t t;
+    oldDateTime_(d, t);
+    *date = d;
+    *time = t;
+  }
+#endif  // ALLOW_DEPRECATED_FUNCTIONS
+};
+
+#endif  // SdBaseFile_h
+#endif

Marlin/SdFatConfig.h

@@ -1,36 +1,33 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
  *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ * This file is part of the Arduino SdFat Library
  *
- * This program is free software: you can redistribute it and/or modify
+ * This Library is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
  *
- * This program is distributed in the hope that it will be useful,
+ * This Library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
-#pragma once
-
 /**
- * SdFatConfig.h
- * Arduino SdFat Library
- * Copyright (c) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
+ * \file
+ * \brief configuration definitions
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
 
-#include "../inc/MarlinConfig.h"
-
+#ifndef SdFatConfig_h
+#define SdFatConfig_h
+#include <stdint.h>
+//------------------------------------------------------------------------------
 /**
  * To use multiple SD cards set USE_MULTIPLE_CARDS nonzero.
  *
@@ -39,7 +36,7 @@
  * Each card requires about 550 bytes of SRAM so use of a Mega is recommended.
  */
 #define USE_MULTIPLE_CARDS 0
-
+//------------------------------------------------------------------------------
 /**
  * Call flush for endl if ENDL_CALLS_FLUSH is nonzero
  *
@@ -58,25 +55,30 @@
  * all data to be written to the SD.
  */
 #define ENDL_CALLS_FLUSH 0
-
+//------------------------------------------------------------------------------
+/**
+ * Allow use of deprecated functions if ALLOW_DEPRECATED_FUNCTIONS is nonzero
+ */
+#define ALLOW_DEPRECATED_FUNCTIONS 1
+//------------------------------------------------------------------------------
 /**
  * Allow FAT12 volumes if FAT12_SUPPORT is nonzero.
  * FAT12 has not been well tested.
  */
 #define FAT12_SUPPORT 0
-
+//------------------------------------------------------------------------------
 /**
  * SPI init rate for SD initialization commands. Must be 5 (F_CPU/64)
  * or 6 (F_CPU/128).
  */
 #define SPI_SD_INIT_RATE 5
-
+//------------------------------------------------------------------------------
 /**
  * Set the SS pin high for hardware SPI.  If SS is chip select for another SPI
  * device this will disable that device during the SD init phase.
  */
 #define SET_SPI_SS_HIGH 1
-
+//------------------------------------------------------------------------------
 /**
  * Define MEGA_SOFT_SPI nonzero to use software SPI on Mega Arduinos.
  * Pins used are SS 10, MOSI 11, MISO 12, and SCK 13.
@@ -86,21 +88,27 @@
  * but many SD cards will fail with GPS Shield V1.0.
  */
 #define MEGA_SOFT_SPI 0
-
-// Set USE_SOFTWARE_SPI nonzero to ALWAYS use Software SPI.
+//------------------------------------------------------------------------------
+/**
+ * Set USE_SOFTWARE_SPI nonzero to always use software SPI.
+ */
 #define USE_SOFTWARE_SPI 0
-
+// define software SPI pins so Mega can use unmodified 168/328 shields
+/** Software SPI chip select pin for the SD */
+uint8_t const SOFT_SPI_CS_PIN = 10;
+/** Software SPI Master Out Slave In pin */
+uint8_t const SOFT_SPI_MOSI_PIN = 11;
+/** Software SPI Master In Slave Out pin */
+uint8_t const SOFT_SPI_MISO_PIN = 12;
+/** Software SPI Clock pin */
+uint8_t const SOFT_SPI_SCK_PIN = 13;
+//------------------------------------------------------------------------------
 /**
  * The __cxa_pure_virtual function is an error handler that is invoked when
  * a pure virtual function is called.
  */
 #define USE_CXA_PURE_VIRTUAL 1
+#endif  // SdFatConfig_h
 
-/**
- * Defines for 8.3 and long (vfat) filenames
- */
 
-#define FILENAME_LENGTH 13 // Number of UTF-16 characters per entry
-
-// Total bytes needed to store a single long filename
-#define LONG_FILENAME_LENGTH (FILENAME_LENGTH * MAX_VFAT_ENTRIES + 1)
+#endif

Marlin/SdFatStructs.h

@@ -0,0 +1,610 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef SdFatStructs_h
+#define SdFatStructs_h
+/**
+ * \file
+ * \brief FAT file structures
+ */
+/*
+ * mostly from Microsoft document fatgen103.doc
+ * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
+ */
+//------------------------------------------------------------------------------
+/** Value for byte 510 of boot block or MBR */
+uint8_t const BOOTSIG0 = 0X55;
+/** Value for byte 511 of boot block or MBR */
+uint8_t const BOOTSIG1 = 0XAA;
+/** Value for bootSignature field int FAT/FAT32 boot sector */
+uint8_t const EXTENDED_BOOT_SIG = 0X29;
+//------------------------------------------------------------------------------
+/**
+ * \struct partitionTable
+ * \brief MBR partition table entry
+ *
+ * A partition table entry for a MBR formatted storage device.
+ * The MBR partition table has four entries.
+ */
+struct partitionTable {
+          /**
+           * Boot Indicator . Indicates whether the volume is the active
+           * partition.  Legal values include: 0X00. Do not use for booting.
+           * 0X80 Active partition.
+           */
+  uint8_t  boot;
+          /**
+            * Head part of Cylinder-head-sector address of the first block in
+            * the partition. Legal values are 0-255. Only used in old PC BIOS.
+            */
+  uint8_t  beginHead;
+          /**
+           * Sector part of Cylinder-head-sector address of the first block in
+           * the partition. Legal values are 1-63. Only used in old PC BIOS.
+           */
+  unsigned beginSector : 6;
+           /** High bits cylinder for first block in partition. */
+  unsigned beginCylinderHigh : 2;
+          /**
+           * Combine beginCylinderLow with beginCylinderHigh. Legal values
+           * are 0-1023.  Only used in old PC BIOS.
+           */
+  uint8_t  beginCylinderLow;
+          /**
+           * Partition type. See defines that begin with PART_TYPE_ for
+           * some Microsoft partition types.
+           */
+  uint8_t  type;
+          /**
+           * head part of cylinder-head-sector address of the last sector in the
+           * partition.  Legal values are 0-255. Only used in old PC BIOS.
+           */
+  uint8_t  endHead;
+          /**
+           * Sector part of cylinder-head-sector address of the last sector in
+           * the partition.  Legal values are 1-63. Only used in old PC BIOS.
+           */
+  unsigned endSector : 6;
+           /** High bits of end cylinder */
+  unsigned endCylinderHigh : 2;
+          /**
+           * Combine endCylinderLow with endCylinderHigh. Legal values
+           * are 0-1023.  Only used in old PC BIOS.
+           */
+  uint8_t  endCylinderLow;
+           /** Logical block address of the first block in the partition. */
+  uint32_t firstSector;
+           /** Length of the partition, in blocks. */
+  uint32_t totalSectors;
+};
+/** Type name for partitionTable */
+typedef struct partitionTable part_t;
+//------------------------------------------------------------------------------
+/**
+ * \struct masterBootRecord
+ *
+ * \brief Master Boot Record
+ *
+ * The first block of a storage device that is formatted with a MBR.
+ */
+struct masterBootRecord {
+           /** Code Area for master boot program. */
+  uint8_t  codeArea[440];
+           /** Optional Windows NT disk signature. May contain boot code. */
+  uint32_t diskSignature;
+           /** Usually zero but may be more boot code. */
+  uint16_t usuallyZero;
+           /** Partition tables. */
+  part_t   part[4];
+           /** First MBR signature byte. Must be 0X55 */
+  uint8_t  mbrSig0;
+           /** Second MBR signature byte. Must be 0XAA */
+  uint8_t  mbrSig1;
+};
+/** Type name for masterBootRecord */
+typedef struct masterBootRecord mbr_t;
+//------------------------------------------------------------------------------
+/**
+ * \struct fat_boot
+ *
+ * \brief Boot sector for a FAT12/FAT16 volume.
+ *
+ */
+struct fat_boot {
+         /**
+          * The first three bytes of the boot sector must be valid,
+          * executable x 86-based CPU instructions. This includes a
+          * jump instruction that skips the next nonexecutable bytes.
+          */
+  uint8_t jump[3];
+         /**
+          * This is typically a string of characters that identifies
+          * the operating system that formatted the volume.
+          */
+  char    oemId[8];
+          /**
+           * The size of a hardware sector. Valid decimal values for this
+           * field are 512, 1024, 2048, and 4096. For most disks used in
+           * the United States, the value of this field is 512.
+           */
+  uint16_t bytesPerSector;
+          /**
+           * Number of sectors per allocation unit. This value must be a
+           * power of 2 that is greater than 0. The legal values are
+           * 1, 2, 4, 8, 16, 32, 64, and 128.  128 should be avoided.
+           */
+  uint8_t  sectorsPerCluster;
+          /**
+           * The number of sectors preceding the start of the first FAT,
+           * including the boot sector. The value of this field is always 1.
+           */
+  uint16_t reservedSectorCount;
+          /**
+           * The number of copies of the FAT on the volume.
+           * The value of this field is always 2.
+           */
+  uint8_t  fatCount;
+          /**
+           * For FAT12 and FAT16 volumes, this field contains the count of
+           * 32-byte directory entries in the root directory. For FAT32 volumes,
+           * this field must be set to 0. For FAT12 and FAT16 volumes, this
+           * value should always specify a count that when multiplied by 32
+           * results in a multiple of bytesPerSector.  FAT16 volumes should
+           * use the value 512.
+           */
+  uint16_t rootDirEntryCount;
+          /**
+           * This field is the old 16-bit total count of sectors on the volume.
+           * This count includes the count of all sectors in all four regions
+           * of the volume. This field can be 0; if it is 0, then totalSectors32
+           * must be nonzero.  For FAT32 volumes, this field must be 0. For
+           * FAT12 and FAT16 volumes, this field contains the sector count, and
+           * totalSectors32 is 0 if the total sector count fits
+           * (is less than 0x10000).
+           */
+  uint16_t totalSectors16;
+          /**
+           * This dates back to the old MS-DOS 1.x media determination and is
+           * no longer usually used for anything.  0xF8 is the standard value
+           * for fixed (nonremovable) media. For removable media, 0xF0 is
+           * frequently used. Legal values are 0xF0 or 0xF8-0xFF.
+           */
+  uint8_t  mediaType;
+          /**
+           * Count of sectors occupied by one FAT on FAT12/FAT16 volumes.
+           * On FAT32 volumes this field must be 0, and sectorsPerFat32
+           * contains the FAT size count.
+           */
+  uint16_t sectorsPerFat16;
+           /** Sectors per track for interrupt 0x13. Not used otherwise. */
+  uint16_t sectorsPerTrack;
+           /** Number of heads for interrupt 0x13.  Not used otherwise. */
+  uint16_t headCount;
+          /**
+           * Count of hidden sectors preceding the partition that contains this
+           * FAT volume. This field is generally only relevant for media
+           * visible on interrupt 0x13.
+           */
+  uint32_t hidddenSectors;
+          /**
+           * This field is the new 32-bit total count of sectors on the volume.
+           * This count includes the count of all sectors in all four regions
+           * of the volume.  This field can be 0; if it is 0, then
+           * totalSectors16 must be nonzero.
+           */
+  uint32_t totalSectors32;
+           /**
+            * Related to the BIOS physical drive number. Floppy drives are
+            * identified as 0x00 and physical hard disks are identified as
+            * 0x80, regardless of the number of physical disk drives.
+            * Typically, this value is set prior to issuing an INT 13h BIOS
+            * call to specify the device to access. The value is only
+            * relevant if the device is a boot device.
+            */
+  uint8_t  driveNumber;
+           /** used by Windows NT - should be zero for FAT */
+  uint8_t  reserved1;
+           /** 0X29 if next three fields are valid */
+  uint8_t  bootSignature;
+           /**
+            * A random serial number created when formatting a disk,
+            * which helps to distinguish between disks.
+            * Usually generated by combining date and time.
+            */
+  uint32_t volumeSerialNumber;
+           /**
+            * A field once used to store the volume label. The volume label
+            * is now stored as a special file in the root directory.
+            */
+  char     volumeLabel[11];
+           /**
+            * A field with a value of either FAT, FAT12 or FAT16,
+            * depending on the disk format.
+            */
+  char     fileSystemType[8];
+           /** X86 boot code */
+  uint8_t  bootCode[448];
+           /** must be 0X55 */
+  uint8_t  bootSectorSig0;
+           /** must be 0XAA */
+  uint8_t  bootSectorSig1;
+};
+/** Type name for FAT Boot Sector */
+typedef struct fat_boot fat_boot_t;
+//------------------------------------------------------------------------------
+/**
+ * \struct fat32_boot
+ *
+ * \brief Boot sector for a FAT32 volume.
+ *
+ */
+struct fat32_boot {
+         /**
+          * The first three bytes of the boot sector must be valid,
+          * executable x 86-based CPU instructions. This includes a
+          * jump instruction that skips the next nonexecutable bytes.
+          */
+  uint8_t jump[3];
+         /**
+          * This is typically a string of characters that identifies
+          * the operating system that formatted the volume.
+          */
+  char    oemId[8];
+          /**
+           * The size of a hardware sector. Valid decimal values for this
+           * field are 512, 1024, 2048, and 4096. For most disks used in
+           * the United States, the value of this field is 512.
+           */
+  uint16_t bytesPerSector;
+          /**
+           * Number of sectors per allocation unit. This value must be a
+           * power of 2 that is greater than 0. The legal values are
+           * 1, 2, 4, 8, 16, 32, 64, and 128.  128 should be avoided.
+           */
+  uint8_t  sectorsPerCluster;
+          /**
+           * The number of sectors preceding the start of the first FAT,
+           * including the boot sector. Must not be zero
+           */
+  uint16_t reservedSectorCount;
+          /**
+           * The number of copies of the FAT on the volume.
+           * The value of this field is always 2.
+           */
+  uint8_t  fatCount;
+          /**
+           * FAT12/FAT16 only. For FAT32 volumes, this field must be set to 0.
+           */
+  uint16_t rootDirEntryCount;
+          /**
+           * For FAT32 volumes, this field must be 0.
+           */
+  uint16_t totalSectors16;
+          /**
+           * This dates back to the old MS-DOS 1.x media determination and is
+           * no longer usually used for anything.  0xF8 is the standard value
+           * for fixed (nonremovable) media. For removable media, 0xF0 is
+           * frequently used. Legal values are 0xF0 or 0xF8-0xFF.
+           */
+  uint8_t  mediaType;
+          /**
+           * On FAT32 volumes this field must be 0, and sectorsPerFat32
+           * contains the FAT size count.
+           */
+  uint16_t sectorsPerFat16;
+           /** Sectors per track for interrupt 0x13. Not used otherwise. */
+  uint16_t sectorsPerTrack;
+           /** Number of heads for interrupt 0x13.  Not used otherwise. */
+  uint16_t headCount;
+          /**
+           * Count of hidden sectors preceding the partition that contains this
+           * FAT volume. This field is generally only relevant for media
+           * visible on interrupt 0x13.
+           */
+  uint32_t hidddenSectors;
+          /**
+           * Contains the total number of sectors in the FAT32 volume.
+           */
+  uint32_t totalSectors32;
+         /**
+           * Count of sectors occupied by one FAT on FAT32 volumes.
+           */
+  uint32_t sectorsPerFat32;
+          /**
+           * This field is only defined for FAT32 media and does not exist on
+           * FAT12 and FAT16 media.
+           * Bits 0-3 -- Zero-based number of active FAT.
+           *             Only valid if mirroring is disabled.
+           * Bits 4-6 -- Reserved.
+           * Bit 7	-- 0 means the FAT is mirrored at runtime into all FATs.
+	         *        -- 1 means only one FAT is active; it is the one referenced
+	         *             in bits 0-3.
+           * Bits 8-15 	-- Reserved.
+           */
+  uint16_t fat32Flags;
+          /**
+           * FAT32 version. High byte is major revision number.
+           * Low byte is minor revision number. Only 0.0 define.
+           */
+  uint16_t fat32Version;
+          /**
+           * Cluster number of the first cluster of the root directory for FAT32.
+           * This usually 2 but not required to be 2.
+           */
+  uint32_t fat32RootCluster;
+          /**
+           * Sector number of FSINFO structure in the reserved area of the
+           * FAT32 volume. Usually 1.
+           */
+  uint16_t fat32FSInfo;
+          /**
+           * If nonzero, indicates the sector number in the reserved area
+           * of the volume of a copy of the boot record. Usually 6.
+           * No value other than 6 is recommended.
+           */
+  uint16_t fat32BackBootBlock;
+          /**
+           * Reserved for future expansion. Code that formats FAT32 volumes
+           * should always set all of the bytes of this field to 0.
+           */
+  uint8_t  fat32Reserved[12];
+           /**
+            * Related to the BIOS physical drive number. Floppy drives are
+            * identified as 0x00 and physical hard disks are identified as
+            * 0x80, regardless of the number of physical disk drives.
+            * Typically, this value is set prior to issuing an INT 13h BIOS
+            * call to specify the device to access. The value is only
+            * relevant if the device is a boot device.
+            */
+  uint8_t  driveNumber;
+           /** used by Windows NT - should be zero for FAT */
+  uint8_t  reserved1;
+           /** 0X29 if next three fields are valid */
+  uint8_t  bootSignature;
+           /**
+            * A random serial number created when formatting a disk,
+            * which helps to distinguish between disks.
+            * Usually generated by combining date and time.
+            */
+  uint32_t volumeSerialNumber;
+           /**
+            * A field once used to store the volume label. The volume label
+            * is now stored as a special file in the root directory.
+            */
+  char     volumeLabel[11];
+           /**
+            * A text field with a value of FAT32.
+            */
+  char     fileSystemType[8];
+           /** X86 boot code */
+  uint8_t  bootCode[420];
+           /** must be 0X55 */
+  uint8_t  bootSectorSig0;
+           /** must be 0XAA */
+  uint8_t  bootSectorSig1;
+};
+/** Type name for FAT32 Boot Sector */
+typedef struct fat32_boot fat32_boot_t;
+//------------------------------------------------------------------------------
+/** Lead signature for a FSINFO sector */
+uint32_t const FSINFO_LEAD_SIG = 0x41615252;
+/** Struct signature for a FSINFO sector */
+uint32_t const FSINFO_STRUCT_SIG = 0x61417272;
+/**
+ * \struct fat32_fsinfo
+ *
+ * \brief FSINFO sector for a FAT32 volume.
+ *
+ */
+struct fat32_fsinfo {
+           /** must be 0X52, 0X52, 0X61, 0X41 */
+  uint32_t  leadSignature;
+           /** must be zero */
+  uint8_t  reserved1[480];
+           /** must be 0X72, 0X72, 0X41, 0X61 */
+  uint32_t  structSignature;
+          /**
+           * Contains the last known free cluster count on the volume.
+           * If the value is 0xFFFFFFFF, then the free count is unknown
+           * and must be computed. Any other value can be used, but is
+           * not necessarily correct. It should be range checked at least
+           * to make sure it is <= volume cluster count.
+           */
+  uint32_t freeCount;
+          /**
+           * This is a hint for the FAT driver. It indicates the cluster
+           * number at which the driver should start looking for free clusters.
+           * If the value is 0xFFFFFFFF, then there is no hint and the driver
+           * should start looking at cluster 2.
+           */
+  uint32_t nextFree;
+           /** must be zero */
+  uint8_t  reserved2[12];
+           /** must be 0X00, 0X00, 0X55, 0XAA */
+  uint8_t  tailSignature[4];
+};
+/** Type name for FAT32 FSINFO Sector */
+typedef struct fat32_fsinfo fat32_fsinfo_t;
+//------------------------------------------------------------------------------
+// End Of Chain values for FAT entries
+/** FAT12 end of chain value used by Microsoft. */
+uint16_t const FAT12EOC = 0XFFF;
+/** Minimum value for FAT12 EOC.  Use to test for EOC. */
+uint16_t const FAT12EOC_MIN = 0XFF8;
+/** FAT16 end of chain value used by Microsoft. */
+uint16_t const FAT16EOC = 0XFFFF;
+/** Minimum value for FAT16 EOC.  Use to test for EOC. */
+uint16_t const FAT16EOC_MIN = 0XFFF8;
+/** FAT32 end of chain value used by Microsoft. */
+uint32_t const FAT32EOC = 0X0FFFFFFF;
+/** Minimum value for FAT32 EOC.  Use to test for EOC. */
+uint32_t const FAT32EOC_MIN = 0X0FFFFFF8;
+/** Mask a for FAT32 entry. Entries are 28 bits. */
+uint32_t const FAT32MASK = 0X0FFFFFFF;
+//------------------------------------------------------------------------------
+/**
+ * \struct directoryEntry
+ * \brief FAT short directory entry
+ *
+ * Short means short 8.3 name, not the entry size.
+ *  
+ * Date Format. A FAT directory entry date stamp is a 16-bit field that is 
+ * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the
+ * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the 
+ * 16-bit word):
+ *   
+ * Bits 9-15: Count of years from 1980, valid value range 0-127 
+ * inclusive (1980-2107).
+ *   
+ * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive.
+ *
+ * Bits 0-4: Day of month, valid value range 1-31 inclusive.
+ *
+ * Time Format. A FAT directory entry time stamp is a 16-bit field that has
+ * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the 
+ * 16-bit word, bit 15 is the MSB of the 16-bit word).
+ *   
+ * Bits 11-15: Hours, valid value range 0-23 inclusive.
+ * 
+ * Bits 5-10: Minutes, valid value range 0-59 inclusive.
+ *      
+ * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds).
+ *   
+ * The valid time range is from Midnight 00:00:00 to 23:59:58.
+ */
+struct directoryEntry {
+           /** Short 8.3 name.
+            *
+            * The first eight bytes contain the file name with blank fill.
+            * The last three bytes contain the file extension with blank fill.
+            */
+  uint8_t  name[11];
+          /** Entry attributes.
+           *
+           * The upper two bits of the attribute byte are reserved and should
+           * always be set to 0 when a file is created and never modified or
+           * looked at after that.  See defines that begin with DIR_ATT_.
+           */
+  uint8_t  attributes;
+          /**
+           * Reserved for use by Windows NT. Set value to 0 when a file is
+           * created and never modify or look at it after that.
+           */
+  uint8_t  reservedNT;
+          /**
+           * The granularity of the seconds part of creationTime is 2 seconds
+           * so this field is a count of tenths of a second and its valid
+           * value range is 0-199 inclusive. (WHG note - seems to be hundredths)
+           */
+  uint8_t  creationTimeTenths;
+           /** Time file was created. */
+  uint16_t creationTime;
+           /** Date file was created. */
+  uint16_t creationDate;
+          /**
+           * Last access date. Note that there is no last access time, only
+           * a date.  This is the date of last read or write. In the case of
+           * a write, this should be set to the same date as lastWriteDate.
+           */
+  uint16_t lastAccessDate;
+          /**
+           * High word of this entry's first cluster number (always 0 for a
+           * FAT12 or FAT16 volume).
+           */
+  uint16_t firstClusterHigh;
+           /** Time of last write. File creation is considered a write. */
+  uint16_t lastWriteTime;
+           /** Date of last write. File creation is considered a write. */
+  uint16_t lastWriteDate;
+           /** Low word of this entry's first cluster number. */
+  uint16_t firstClusterLow;
+           /** 32-bit unsigned holding this file's size in bytes. */
+  uint32_t fileSize;
+};
+//------------------------------------------------------------------------------
+// Definitions for directory entries
+//
+/** Type name for directoryEntry */
+typedef struct directoryEntry dir_t;
+/** escape for name[0] = 0XE5 */
+uint8_t const DIR_NAME_0XE5 = 0X05;
+/** name[0] value for entry that is free after being "deleted" */
+uint8_t const DIR_NAME_DELETED = 0XE5;
+/** name[0] value for entry that is free and no allocated entries follow */
+uint8_t const DIR_NAME_FREE = 0X00;
+/** file is read-only */
+uint8_t const DIR_ATT_READ_ONLY = 0X01;
+/** File should hidden in directory listings */
+uint8_t const DIR_ATT_HIDDEN = 0X02;
+/** Entry is for a system file */
+uint8_t const DIR_ATT_SYSTEM = 0X04;
+/** Directory entry contains the volume label */
+uint8_t const DIR_ATT_VOLUME_ID = 0X08;
+/** Entry is for a directory */
+uint8_t const DIR_ATT_DIRECTORY = 0X10;
+/** Old DOS archive bit for backup support */
+uint8_t const DIR_ATT_ARCHIVE = 0X20;
+/** Test value for long name entry.  Test is
+  (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
+uint8_t const DIR_ATT_LONG_NAME = 0X0F;
+/** Test mask for long name entry */
+uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F;
+/** defined attribute bits */
+uint8_t const DIR_ATT_DEFINED_BITS = 0X3F;
+/** Directory entry is part of a long name
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for part of a long name else false.
+ */
+static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
+  return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME;
+}
+/** Mask for file/subdirectory tests */
+uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
+/** Directory entry is for a file
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a normal file else false.
+ */
+static inline uint8_t DIR_IS_FILE(const dir_t* dir) {
+  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0;
+}
+/** Directory entry is for a subdirectory
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a subdirectory else false.
+ */
+static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) {
+  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY;
+}
+/** Directory entry is for a file or subdirectory
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a normal file or subdirectory else false.
+ */
+static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
+  return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
+}
+#endif  // SdFatStructs_h
+
+
+#endif

Marlin/SdFatUtil.cpp

@@ -0,0 +1,79 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2008 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
+#include "SdFatUtil.h"
+
+//------------------------------------------------------------------------------
+/** Amount of free RAM
+ * \return The number of free bytes.
+ */
+int SdFatUtil::FreeRam() {
+  extern int  __bss_end;
+  extern int* __brkval;
+  int free_memory;
+  if (reinterpret_cast<int>(__brkval) == 0) {
+    // if no heap use from end of bss section
+    free_memory = reinterpret_cast<int>(&free_memory)
+                  - reinterpret_cast<int>(&__bss_end);
+  } else {
+    // use from top of stack to heap
+    free_memory = reinterpret_cast<int>(&free_memory)
+                  - reinterpret_cast<int>(__brkval);
+  }
+  return free_memory;
+}
+//------------------------------------------------------------------------------
+/** %Print a string in flash memory.
+ *
+ * \param[in] pr Print object for output.
+ * \param[in] str Pointer to string stored in flash memory.
+ */
+void SdFatUtil::print_P( PGM_P str) {
+  for (uint8_t c; (c = pgm_read_byte(str)); str++) MYSERIAL.write(c);
+}
+//------------------------------------------------------------------------------
+/** %Print a string in flash memory followed by a CR/LF.
+ *
+ * \param[in] pr Print object for output.
+ * \param[in] str Pointer to string stored in flash memory.
+ */
+void SdFatUtil::println_P( PGM_P str) {
+  print_P( str);
+  MYSERIAL.println();
+}
+//------------------------------------------------------------------------------
+/** %Print a string in flash memory to Serial.
+ *
+ * \param[in] str Pointer to string stored in flash memory.
+ */
+void SdFatUtil::SerialPrint_P(PGM_P str) {
+  print_P(str);
+}
+//------------------------------------------------------------------------------
+/** %Print a string in flash memory to Serial followed by a CR/LF.
+ *
+ * \param[in] str Pointer to string stored in flash memory.
+ */
+void SdFatUtil::SerialPrintln_P(PGM_P str) {
+  println_P( str);
+}
+#endif

Marlin/SdFatUtil.h

@@ -0,0 +1,48 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2008 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef SdFatUtil_h
+#define SdFatUtil_h
+/**
+ * \file
+ * \brief Useful utility functions.
+ */
+#include "Marlin.h"
+#include "MarlinSerial.h"
+/** Store and print a string in flash memory.*/
+#define PgmPrint(x) SerialPrint_P(PSTR(x))
+/** Store and print a string in flash memory followed by a CR/LF.*/
+#define PgmPrintln(x) SerialPrintln_P(PSTR(x))
+
+namespace SdFatUtil {
+  int FreeRam();
+  void print_P( PGM_P str);
+  void println_P( PGM_P str);
+  void SerialPrint_P(PGM_P str);
+  void SerialPrintln_P(PGM_P str);
+}
+
+using namespace SdFatUtil;  // NOLINT
+#endif  // #define SdFatUtil_h
+
+
+#endif

Marlin/SdFile.cpp

@@ -1,101 +1,92 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Arduino SdFat Library
- * Copyright (c) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
- */
-
-#include "../inc/MarlinConfig.h"
-
-#if ENABLED(SDSUPPORT)
-
-#include "SdFile.h"
-
-/**
- *  Create a file object and open it in the current working directory.
- *
- * \param[in] path A path with a valid 8.3 DOS name for a file to be opened.
- *
- * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
- * OR of open flags. see SdBaseFile::open(SdBaseFile*, const char*, uint8_t).
- */
-SdFile::SdFile(const char* path, uint8_t oflag) : SdBaseFile(path, oflag) { }
-
-/**
- * Write data to an open file.
- *
- * \note Data is moved to the cache but may not be written to the
- * storage device until sync() is called.
- *
- * \param[in] buf Pointer to the location of the data to be written.
- *
- * \param[in] nbyte Number of bytes to write.
- *
- * \return For success write() returns the number of bytes written, always
- * \a nbyte.  If an error occurs, write() returns -1.  Possible errors
- * include write() is called before a file has been opened, write is called
- * for a read-only file, device is full, a corrupt file system or an I/O error.
- *
- */
-int16_t SdFile::write(const void* buf, uint16_t nbyte) { return SdBaseFile::write(buf, nbyte); }
-
-/**
- * Write a byte to a file. Required by the Arduino Print class.
- * \param[in] b the byte to be written.
- * Use writeError to check for errors.
- */
-#if ARDUINO >= 100
-  size_t SdFile::write(uint8_t b) { return SdBaseFile::write(&b, 1); }
-#else
-  void SdFile::write(uint8_t b) { SdBaseFile::write(&b, 1); }
-#endif
-
-/**
- * Write a string to a file. Used by the Arduino Print class.
- * \param[in] str Pointer to the string.
- * Use writeError to check for errors.
- */
-void SdFile::write(const char* str) { SdBaseFile::write(str, strlen(str)); }
-
-/**
- * Write a PROGMEM string to a file.
- * \param[in] str Pointer to the PROGMEM string.
- * Use writeError to check for errors.
- */
-void SdFile::write_P(PGM_P str) {
-  for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c);
-}
-
-/**
- * Write a PROGMEM string followed by CR/LF to a file.
- * \param[in] str Pointer to the PROGMEM string.
- * Use writeError to check for errors.
- */
-void SdFile::writeln_P(PGM_P str) {
-  write_P(str);
-  write_P(PSTR("\r\n"));
-}
-
-#endif // SDSUPPORT
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
+#include "SdFile.h"
+/**  Create a file object and open it in the current working directory.
+ *
+ * \param[in] path A path with a valid 8.3 DOS name for a file to be opened.
+ *
+ * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
+ * OR of open flags. see SdBaseFile::open(SdBaseFile*, const char*, uint8_t).
+ */
+SdFile::SdFile(const char* path, uint8_t oflag) : SdBaseFile(path, oflag) {
+}
+//------------------------------------------------------------------------------
+/** Write data to an open file.
+ *
+ * \note Data is moved to the cache but may not be written to the
+ * storage device until sync() is called.
+ *
+ * \param[in] buf Pointer to the location of the data to be written.
+ *
+ * \param[in] nbyte Number of bytes to write.
+ *
+ * \return For success write() returns the number of bytes written, always
+ * \a nbyte.  If an error occurs, write() returns -1.  Possible errors
+ * include write() is called before a file has been opened, write is called
+ * for a read-only file, device is full, a corrupt file system or an I/O error.
+ *
+ */
+int16_t SdFile::write(const void* buf, uint16_t nbyte) {
+  return SdBaseFile::write(buf, nbyte);
+}
+//------------------------------------------------------------------------------
+/** Write a byte to a file. Required by the Arduino Print class.
+ * \param[in] b the byte to be written.
+ * Use writeError to check for errors.
+ */
+#if ARDUINO >= 100
+    size_t SdFile::write(uint8_t b)
+#else
+  void SdFile::write(uint8_t b)
+#endif
+{
+  SdBaseFile::write(&b, 1);
+}
+//------------------------------------------------------------------------------
+/** Write a string to a file. Used by the Arduino Print class.
+ * \param[in] str Pointer to the string.
+ * Use writeError to check for errors.
+ */
+void SdFile::write(const char* str) {
+  SdBaseFile::write(str, strlen(str));
+}
+//------------------------------------------------------------------------------
+/** Write a PROGMEM string to a file.
+ * \param[in] str Pointer to the PROGMEM string.
+ * Use writeError to check for errors.
+ */
+void SdFile::write_P(PGM_P str) {
+  for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c);
+}
+//------------------------------------------------------------------------------
+/** Write a PROGMEM string followed by CR/LF to a file.
+ * \param[in] str Pointer to the PROGMEM string.
+ * Use writeError to check for errors.
+ */
+void SdFile::writeln_P(PGM_P str) {
+  write_P(str);
+  write_P(PSTR("\r\n"));
+}
+
+
+#endif

Marlin/SdFile.h

@@ -1,59 +1,54 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
  *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ * This file is part of the Arduino SdFat Library
  *
- * This program is free software: you can redistribute it and/or modify
+ * This Library is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
  *
- * This program is distributed in the hope that it will be useful,
+ * This Library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
-#pragma once
-
 /**
  * \file
  * \brief SdFile class
  */
+#include "Marlin.h"
 
-/**
- * Arduino SdFat Library
- * Copyright (c) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
- */
-
+#ifdef SDSUPPORT
 #include "SdBaseFile.h"
-
-#include <stdint.h>
-#include <string.h>
-
+#include <Print.h>
+#ifndef SdFile_h
+#define SdFile_h
+//------------------------------------------------------------------------------
 /**
  * \class SdFile
  * \brief SdBaseFile with Print.
  */
-class SdFile : public SdBaseFile/*, public Print*/ {
+class SdFile : public SdBaseFile, public Print {
  public:
   SdFile() {}
   SdFile(const char* name, uint8_t oflag);
   #if ARDUINO >= 100
-    size_t write(uint8_t b);
+      size_t write(uint8_t b);
   #else
    void write(uint8_t b);
   #endif
-
+  
   int16_t write(const void* buf, uint16_t nbyte);
   void write(const char* str);
   void write_P(PGM_P str);
   void writeln_P(PGM_P str);
 };
+#endif  // SdFile_h
+
+
+#endif

Marlin/SdInfo.h

@@ -1,265 +1,280 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * Arduino Sd2Card Library
- * Copyright (c) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
- */
-
-#include <stdint.h>
-
-// Based on the document:
-//
-// SD Specifications
-// Part 1
-// Physical Layer
-// Simplified Specification
-// Version 3.01
-// May 18, 2010
-//
-// http://www.sdcard.org/developers/tech/sdcard/pls/simplified_specs
-
-// SD card commands
-uint8_t const CMD0 = 0x00,    // GO_IDLE_STATE - init card in spi mode if CS low
-              CMD8 = 0x08,    // SEND_IF_COND - verify SD Memory Card interface operating condition
-              CMD9 = 0x09,    // SEND_CSD - read the Card Specific Data (CSD register)
-              CMD10 = 0x0A,   // SEND_CID - read the card identification information (CID register)
-              CMD12 = 0x0C,   // STOP_TRANSMISSION - end multiple block read sequence
-              CMD13 = 0x0D,   // SEND_STATUS - read the card status register
-              CMD17 = 0x11,   // READ_SINGLE_BLOCK - read a single data block from the card
-              CMD18 = 0x12,   // READ_MULTIPLE_BLOCK - read a multiple data blocks from the card
-              CMD24 = 0x18,   // WRITE_BLOCK - write a single data block to the card
-              CMD25 = 0x19,   // WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION
-              CMD32 = 0x20,   // ERASE_WR_BLK_START - sets the address of the first block to be erased
-              CMD33 = 0x21,   // ERASE_WR_BLK_END - sets the address of the last block of the continuous range to be erased
-              CMD38 = 0x26,   // ERASE - erase all previously selected blocks
-              CMD55 = 0x37,   // APP_CMD - escape for application specific command
-              CMD58 = 0x3A,   // READ_OCR - read the OCR register of a card
-              CMD59 = 0x3B,   // CRC_ON_OFF - enable or disable CRC checking
-              ACMD23 = 0x17,  // SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be pre-erased before writing
-              ACMD41 = 0x29;  // SD_SEND_OP_COMD - Sends host capacity support information and activates the card's initialization process
-
-/** status for card in the ready state */
-uint8_t const R1_READY_STATE = 0x00;
-/** status for card in the idle state */
-uint8_t const R1_IDLE_STATE = 0x01;
-/** status bit for illegal command */
-uint8_t const R1_ILLEGAL_COMMAND = 0x04;
-/** start data token for read or write single block*/
-uint8_t const DATA_START_BLOCK = 0xFE;
-/** stop token for write multiple blocks*/
-uint8_t const STOP_TRAN_TOKEN = 0xFD;
-/** start data token for write multiple blocks*/
-uint8_t const WRITE_MULTIPLE_TOKEN = 0xFC;
-/** mask for data response tokens after a write block operation */
-uint8_t const DATA_RES_MASK = 0x1F;
-/** write data accepted token */
-uint8_t const DATA_RES_ACCEPTED = 0x05;
-
-/** Card IDentification (CID) register */
-typedef struct CID {
-  // byte 0
-  /** Manufacturer ID */
-  unsigned char mid;
-  // byte 1-2
-  /** OEM/Application ID */
-  char oid[2];
-  // byte 3-7
-  /** Product name */
-  char pnm[5];
-  // byte 8
-  /** Product revision least significant digit */
-  unsigned char prv_m : 4;
-  /** Product revision most significant digit */
-  unsigned char prv_n : 4;
-  // byte 9-12
-  /** Product serial number */
-  uint32_t psn;
-  // byte 13
-  /** Manufacturing date year low digit */
-  unsigned char mdt_year_high : 4;
-  /** not used */
-  unsigned char reserved : 4;
-  // byte 14
-  /** Manufacturing date month */
-  unsigned char mdt_month : 4;
-  /** Manufacturing date year low digit */
-  unsigned char mdt_year_low : 4;
-  // byte 15
-  /** not used always 1 */
-  unsigned char always1 : 1;
-  /** CRC7 checksum */
-  unsigned char crc : 7;
-} cid_t;
-
-/** CSD for version 1.00 cards */
-typedef struct CSDV1 {
-  // byte 0
-  unsigned char reserved1 : 6;
-  unsigned char csd_ver : 2;
-  // byte 1
-  unsigned char taac;
-  // byte 2
-  unsigned char nsac;
-  // byte 3
-  unsigned char tran_speed;
-  // byte 4
-  unsigned char ccc_high;
-  // byte 5
-  unsigned char read_bl_len : 4;
-  unsigned char ccc_low : 4;
-  // byte 6
-  unsigned char c_size_high : 2;
-  unsigned char reserved2 : 2;
-  unsigned char dsr_imp : 1;
-  unsigned char read_blk_misalign : 1;
-  unsigned char write_blk_misalign : 1;
-  unsigned char read_bl_partial : 1;
-  // byte 7
-  unsigned char c_size_mid;
-  // byte 8
-  unsigned char vdd_r_curr_max : 3;
-  unsigned char vdd_r_curr_min : 3;
-  unsigned char c_size_low : 2;
-  // byte 9
-  unsigned char c_size_mult_high : 2;
-  unsigned char vdd_w_cur_max : 3;
-  unsigned char vdd_w_curr_min : 3;
-  // byte 10
-  unsigned char sector_size_high : 6;
-  unsigned char erase_blk_en : 1;
-  unsigned char c_size_mult_low : 1;
-  // byte 11
-  unsigned char wp_grp_size : 7;
-  unsigned char sector_size_low : 1;
-  // byte 12
-  unsigned char write_bl_len_high : 2;
-  unsigned char r2w_factor : 3;
-  unsigned char reserved3 : 2;
-  unsigned char wp_grp_enable : 1;
-  // byte 13
-  unsigned char reserved4 : 5;
-  unsigned char write_partial : 1;
-  unsigned char write_bl_len_low : 2;
-  // byte 14
-  unsigned char reserved5: 2;
-  unsigned char file_format : 2;
-  unsigned char tmp_write_protect : 1;
-  unsigned char perm_write_protect : 1;
-  unsigned char copy : 1;
-  /** Indicates the file format on the card */
-  unsigned char file_format_grp : 1;
-  // byte 15
-  unsigned char always1 : 1;
-  unsigned char crc : 7;
-} csd1_t;
-
-/** CSD for version 2.00 cards */
-typedef struct CSDV2 {
-  // byte 0
-  unsigned char reserved1 : 6;
-  unsigned char csd_ver : 2;
-  // byte 1
-  /** fixed to 0x0E */
-  unsigned char taac;
-  // byte 2
-  /** fixed to 0 */
-  unsigned char nsac;
-  // byte 3
-  unsigned char tran_speed;
-  // byte 4
-  unsigned char ccc_high;
-  // byte 5
-  /** This field is fixed to 9h, which indicates READ_BL_LEN=512 Byte */
-  unsigned char read_bl_len : 4;
-  unsigned char ccc_low : 4;
-  // byte 6
-  /** not used */
-  unsigned char reserved2 : 4;
-  unsigned char dsr_imp : 1;
-  /** fixed to 0 */
-  unsigned char read_blk_misalign : 1;
-  /** fixed to 0 */
-  unsigned char write_blk_misalign : 1;
-  /** fixed to 0 - no partial read */
-  unsigned char read_bl_partial : 1;
-  // byte 7
-  /** not used */
-  unsigned char reserved3 : 2;
-  /** high part of card size */
-  unsigned char c_size_high : 6;
-  // byte 8
-  /** middle part of card size */
-  unsigned char c_size_mid;
-  // byte 9
-  /** low part of card size */
-  unsigned char c_size_low;
-  // byte 10
-  /** sector size is fixed at 64 KB */
-  unsigned char sector_size_high : 6;
-  /** fixed to 1 - erase single is supported */
-  unsigned char erase_blk_en : 1;
-  /** not used */
-  unsigned char reserved4 : 1;
-  // byte 11
-  unsigned char wp_grp_size : 7;
-  /** sector size is fixed at 64 KB */
-  unsigned char sector_size_low : 1;
-  // byte 12
-  /** write_bl_len fixed for 512 byte blocks */
-  unsigned char write_bl_len_high : 2;
-  /** fixed value of 2 */
-  unsigned char r2w_factor : 3;
-  /** not used */
-  unsigned char reserved5 : 2;
-  /** fixed value of 0 - no write protect groups */
-  unsigned char wp_grp_enable : 1;
-  // byte 13
-  unsigned char reserved6 : 5;
-  /** always zero - no partial block read*/
-  unsigned char write_partial : 1;
-  /** write_bl_len fixed for 512 byte blocks */
-  unsigned char write_bl_len_low : 2;
-  // byte 14
-  unsigned char reserved7: 2;
-  /** Do not use always 0 */
-  unsigned char file_format : 2;
-  unsigned char tmp_write_protect : 1;
-  unsigned char perm_write_protect : 1;
-  unsigned char copy : 1;
-  /** Do not use always 0 */
-  unsigned char file_format_grp : 1;
-  // byte 15
-  /** not used always 1 */
-  unsigned char always1 : 1;
-  /** checksum */
-  unsigned char crc : 7;
-} csd2_t;
-
-/** union of old and new style CSD register */
-union csd_t {
-  csd1_t v1;
-  csd2_t v2;
-};
+/* Arduino Sd2Card Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino Sd2Card Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino Sd2Card Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#ifndef SdInfo_h
+#define SdInfo_h
+#include <stdint.h>
+// Based on the document:
+//
+// SD Specifications
+// Part 1
+// Physical Layer
+// Simplified Specification
+// Version 3.01
+// May 18, 2010
+//
+// http://www.sdcard.org/developers/tech/sdcard/pls/simplified_specs
+//------------------------------------------------------------------------------
+// SD card commands
+/** GO_IDLE_STATE - init card in spi mode if CS low */
+uint8_t const CMD0 = 0X00;
+/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/
+uint8_t const CMD8 = 0X08;
+/** SEND_CSD - read the Card Specific Data (CSD register) */
+uint8_t const CMD9 = 0X09;
+/** SEND_CID - read the card identification information (CID register) */
+uint8_t const CMD10 = 0X0A;
+/** STOP_TRANSMISSION - end multiple block read sequence */
+uint8_t const CMD12 = 0X0C;
+/** SEND_STATUS - read the card status register */
+uint8_t const CMD13 = 0X0D;
+/** READ_SINGLE_BLOCK - read a single data block from the card */
+uint8_t const CMD17 = 0X11;
+/** READ_MULTIPLE_BLOCK - read a multiple data blocks from the card */
+uint8_t const CMD18 = 0X12;
+/** WRITE_BLOCK - write a single data block to the card */
+uint8_t const CMD24 = 0X18;
+/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */
+uint8_t const CMD25 = 0X19;
+/** ERASE_WR_BLK_START - sets the address of the first block to be erased */
+uint8_t const CMD32 = 0X20;
+/** ERASE_WR_BLK_END - sets the address of the last block of the continuous
+    range to be erased*/
+uint8_t const CMD33 = 0X21;
+/** ERASE - erase all previously selected blocks */
+uint8_t const CMD38 = 0X26;
+/** APP_CMD - escape for application specific command */
+uint8_t const CMD55 = 0X37;
+/** READ_OCR - read the OCR register of a card */
+uint8_t const CMD58 = 0X3A;
+/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be
+     pre-erased before writing */
+uint8_t const ACMD23 = 0X17;
+/** SD_SEND_OP_COMD - Sends host capacity support information and
+    activates the card's initialization process */
+uint8_t const ACMD41 = 0X29;
+//------------------------------------------------------------------------------
+/** status for card in the ready state */
+uint8_t const R1_READY_STATE = 0X00;
+/** status for card in the idle state */
+uint8_t const R1_IDLE_STATE = 0X01;
+/** status bit for illegal command */
+uint8_t const R1_ILLEGAL_COMMAND = 0X04;
+/** start data token for read or write single block*/
+uint8_t const DATA_START_BLOCK = 0XFE;
+/** stop token for write multiple blocks*/
+uint8_t const STOP_TRAN_TOKEN = 0XFD;
+/** start data token for write multiple blocks*/
+uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC;
+/** mask for data response tokens after a write block operation */
+uint8_t const DATA_RES_MASK = 0X1F;
+/** write data accepted token */
+uint8_t const DATA_RES_ACCEPTED = 0X05;
+//------------------------------------------------------------------------------
+/** Card IDentification (CID) register */
+typedef struct CID {
+  // byte 0
+  /** Manufacturer ID */
+  unsigned char mid;
+  // byte 1-2
+  /** OEM/Application ID */
+  char oid[2];
+  // byte 3-7
+  /** Product name */
+  char pnm[5];
+  // byte 8
+  /** Product revision least significant digit */
+  unsigned char prv_m : 4;
+  /** Product revision most significant digit */
+  unsigned char prv_n : 4;
+  // byte 9-12
+  /** Product serial number */
+  uint32_t psn;
+  // byte 13
+  /** Manufacturing date year low digit */
+  unsigned char mdt_year_high : 4;
+  /** not used */
+  unsigned char reserved : 4;
+  // byte 14
+  /** Manufacturing date month */
+  unsigned char mdt_month : 4;
+  /** Manufacturing date year low digit */
+  unsigned char mdt_year_low :4;
+  // byte 15
+  /** not used always 1 */
+  unsigned char always1 : 1;
+  /** CRC7 checksum */
+  unsigned char crc : 7;
+}cid_t;
+//------------------------------------------------------------------------------
+/** CSD for version 1.00 cards */
+typedef struct CSDV1 {
+  // byte 0
+  unsigned char reserved1 : 6;
+  unsigned char csd_ver : 2;
+  // byte 1
+  unsigned char taac;
+  // byte 2
+  unsigned char nsac;
+  // byte 3
+  unsigned char tran_speed;
+  // byte 4
+  unsigned char ccc_high;
+  // byte 5
+  unsigned char read_bl_len : 4;
+  unsigned char ccc_low : 4;
+  // byte 6
+  unsigned char c_size_high : 2;
+  unsigned char reserved2 : 2;
+  unsigned char dsr_imp : 1;
+  unsigned char read_blk_misalign :1;
+  unsigned char write_blk_misalign : 1;
+  unsigned char read_bl_partial : 1;
+  // byte 7
+  unsigned char c_size_mid;
+  // byte 8
+  unsigned char vdd_r_curr_max : 3;
+  unsigned char vdd_r_curr_min : 3;
+  unsigned char c_size_low :2;
+  // byte 9
+  unsigned char c_size_mult_high : 2;
+  unsigned char vdd_w_cur_max : 3;
+  unsigned char vdd_w_curr_min : 3;
+  // byte 10
+  unsigned char sector_size_high : 6;
+  unsigned char erase_blk_en : 1;
+  unsigned char c_size_mult_low : 1;
+  // byte 11
+  unsigned char wp_grp_size : 7;
+  unsigned char sector_size_low : 1;
+  // byte 12
+  unsigned char write_bl_len_high : 2;
+  unsigned char r2w_factor : 3;
+  unsigned char reserved3 : 2;
+  unsigned char wp_grp_enable : 1;
+  // byte 13
+  unsigned char reserved4 : 5;
+  unsigned char write_partial : 1;
+  unsigned char write_bl_len_low : 2;
+  // byte 14
+  unsigned char reserved5: 2;
+  unsigned char file_format : 2;
+  unsigned char tmp_write_protect : 1;
+  unsigned char perm_write_protect : 1;
+  unsigned char copy : 1;
+  /** Indicates the file format on the card */
+  unsigned char file_format_grp : 1;
+  // byte 15
+  unsigned char always1 : 1;
+  unsigned char crc : 7;
+}csd1_t;
+//------------------------------------------------------------------------------
+/** CSD for version 2.00 cards */
+typedef struct CSDV2 {
+  // byte 0
+  unsigned char reserved1 : 6;
+  unsigned char csd_ver : 2;
+  // byte 1
+  /** fixed to 0X0E */
+  unsigned char taac;
+  // byte 2
+  /** fixed to 0 */
+  unsigned char nsac;
+  // byte 3
+  unsigned char tran_speed;
+  // byte 4
+  unsigned char ccc_high;
+  // byte 5
+  /** This field is fixed to 9h, which indicates READ_BL_LEN=512 Byte */
+  unsigned char read_bl_len : 4;
+  unsigned char ccc_low : 4;
+  // byte 6
+  /** not used */
+  unsigned char reserved2 : 4;
+  unsigned char dsr_imp : 1;
+  /** fixed to 0 */
+  unsigned char read_blk_misalign :1;
+  /** fixed to 0 */
+  unsigned char write_blk_misalign : 1;
+  /** fixed to 0 - no partial read */
+  unsigned char read_bl_partial : 1;
+  // byte 7
+  /** not used */
+  unsigned char reserved3 : 2;
+  /** high part of card size */
+  unsigned char c_size_high : 6;
+  // byte 8
+  /** middle part of card size */
+  unsigned char c_size_mid;
+  // byte 9
+  /** low part of card size */
+  unsigned char c_size_low;
+  // byte 10
+  /** sector size is fixed at 64 KB */
+  unsigned char sector_size_high : 6;
+  /** fixed to 1 - erase single is supported */
+  unsigned char erase_blk_en : 1;
+  /** not used */
+  unsigned char reserved4 : 1;
+  // byte 11
+  unsigned char wp_grp_size : 7;
+  /** sector size is fixed at 64 KB */
+  unsigned char sector_size_low : 1;
+  // byte 12
+  /** write_bl_len fixed for 512 byte blocks */
+  unsigned char write_bl_len_high : 2;
+  /** fixed value of 2 */
+  unsigned char r2w_factor : 3;
+  /** not used */
+  unsigned char reserved5 : 2;
+  /** fixed value of 0 - no write protect groups */
+  unsigned char wp_grp_enable : 1;
+  // byte 13
+  unsigned char reserved6 : 5;
+  /** always zero - no partial block read*/
+  unsigned char write_partial : 1;
+  /** write_bl_len fixed for 512 byte blocks */
+  unsigned char write_bl_len_low : 2;
+  // byte 14
+  unsigned char reserved7: 2;
+  /** Do not use always 0 */
+  unsigned char file_format : 2;
+  unsigned char tmp_write_protect : 1;
+  unsigned char perm_write_protect : 1;
+  unsigned char copy : 1;
+  /** Do not use always 0 */
+  unsigned char file_format_grp : 1;
+  // byte 15
+  /** not used always 1 */
+  unsigned char always1 : 1;
+  /** checksum */
+  unsigned char crc : 7;
+}csd2_t;
+//------------------------------------------------------------------------------
+/** union of old and new style CSD register */
+union csd_t {
+  csd1_t v1;
+  csd2_t v2;
+};
+#endif  // SdInfo_h
+
+#endif

Marlin/SdVolume.cpp

@@ -1,387 +1,405 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Arduino SdFat Library
- * Copyright (c) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
- */
-
-#include "../inc/MarlinConfig.h"
-
-#if ENABLED(SDSUPPORT)
-
-#include "SdVolume.h"
-
-#include "../Marlin.h"
-
-#if !USE_MULTIPLE_CARDS
-  // raw block cache
-  uint32_t SdVolume::cacheBlockNumber_;  // current block number
-  cache_t  SdVolume::cacheBuffer_;       // 512 byte cache for Sd2Card
-  Sd2Card* SdVolume::sdCard_;            // pointer to SD card object
-  bool     SdVolume::cacheDirty_;        // cacheFlush() will write block if true
-  uint32_t SdVolume::cacheMirrorBlock_;  // mirror  block for second FAT
-#endif  // USE_MULTIPLE_CARDS
-
-// find a contiguous group of clusters
-bool SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) {
-  // start of group
-  uint32_t bgnCluster;
-  // end of group
-  uint32_t endCluster;
-  // last cluster of FAT
-  uint32_t fatEnd = clusterCount_ + 1;
-
-  // flag to save place to start next search
-  bool setStart;
-
-  // set search start cluster
-  if (*curCluster) {
-    // try to make file contiguous
-    bgnCluster = *curCluster + 1;
-
-    // don't save new start location
-    setStart = false;
-  }
-  else {
-    // start at likely place for free cluster
-    bgnCluster = allocSearchStart_;
-
-    // save next search start if one cluster
-    setStart = count == 1;
-  }
-  // end of group
-  endCluster = bgnCluster;
-
-  // search the FAT for free clusters
-  for (uint32_t n = 0;; n++, endCluster++) {
-    // can't find space checked all clusters
-    if (n >= clusterCount_) return false;
-
-    // past end - start from beginning of FAT
-    if (endCluster > fatEnd) {
-      bgnCluster = endCluster = 2;
-    }
-    uint32_t f;
-    if (!fatGet(endCluster, &f)) return false;
-
-    if (f != 0) {
-      // cluster in use try next cluster as bgnCluster
-      bgnCluster = endCluster + 1;
-    }
-    else if ((endCluster - bgnCluster + 1) == count) {
-      // done - found space
-      break;
-    }
-  }
-  // mark end of chain
-  if (!fatPutEOC(endCluster)) return false;
-
-  // link clusters
-  while (endCluster > bgnCluster) {
-    if (!fatPut(endCluster - 1, endCluster)) return false;
-    endCluster--;
-  }
-  if (*curCluster != 0) {
-    // connect chains
-    if (!fatPut(*curCluster, bgnCluster)) return false;
-  }
-  // return first cluster number to caller
-  *curCluster = bgnCluster;
-
-  // remember possible next free cluster
-  if (setStart) allocSearchStart_ = bgnCluster + 1;
-
-  return true;
-}
-
-bool SdVolume::cacheFlush() {
-  if (cacheDirty_) {
-    if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data))
-      return false;
-
-    // mirror FAT tables
-    if (cacheMirrorBlock_) {
-      if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data))
-        return false;
-      cacheMirrorBlock_ = 0;
-    }
-    cacheDirty_ = 0;
-  }
-  return true;
-}
-
-bool SdVolume::cacheRawBlock(uint32_t blockNumber, bool dirty) {
-  if (cacheBlockNumber_ != blockNumber) {
-    if (!cacheFlush()) return false;
-    if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false;
-    cacheBlockNumber_ = blockNumber;
-  }
-  if (dirty) cacheDirty_ = true;
-  return true;
-}
-
-// return the size in bytes of a cluster chain
-bool SdVolume::chainSize(uint32_t cluster, uint32_t* size) {
-  uint32_t s = 0;
-  do {
-    if (!fatGet(cluster, &cluster)) return false;
-    s += 512UL << clusterSizeShift_;
-  } while (!isEOC(cluster));
-  *size = s;
-  return true;
-}
-
-// Fetch a FAT entry
-bool SdVolume::fatGet(uint32_t cluster, uint32_t* value) {
-  uint32_t lba;
-  if (cluster > (clusterCount_ + 1)) return false;
-  if (FAT12_SUPPORT && fatType_ == 12) {
-    uint16_t index = cluster;
-    index += index >> 1;
-    lba = fatStartBlock_ + (index >> 9);
-    if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false;
-    index &= 0x1FF;
-    uint16_t tmp = cacheBuffer_.data[index];
-    index++;
-    if (index == 512) {
-      if (!cacheRawBlock(lba + 1, CACHE_FOR_READ)) return false;
-      index = 0;
-    }
-    tmp |= cacheBuffer_.data[index] << 8;
-    *value = cluster & 1 ? tmp >> 4 : tmp & 0xFFF;
-    return true;
-  }
-
-  if (fatType_ == 16)
-    lba = fatStartBlock_ + (cluster >> 8);
-  else if (fatType_ == 32)
-    lba = fatStartBlock_ + (cluster >> 7);
-  else
-    return false;
-
-  if (lba != cacheBlockNumber_ && !cacheRawBlock(lba, CACHE_FOR_READ))
-    return false;
-
-  *value = (fatType_ == 16) ? cacheBuffer_.fat16[cluster & 0xFF] : (cacheBuffer_.fat32[cluster & 0x7F] & FAT32MASK);
-  return true;
-}
-
-// Store a FAT entry
-bool SdVolume::fatPut(uint32_t cluster, uint32_t value) {
-  uint32_t lba;
-  // error if reserved cluster
-  if (cluster < 2) return false;
-
-  // error if not in FAT
-  if (cluster > (clusterCount_ + 1)) return false;
-
-  if (FAT12_SUPPORT && fatType_ == 12) {
-    uint16_t index = cluster;
-    index += index >> 1;
-    lba = fatStartBlock_ + (index >> 9);
-    if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return false;
-    // mirror second FAT
-    if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
-    index &= 0x1FF;
-    uint8_t tmp = value;
-    if (cluster & 1) {
-      tmp = (cacheBuffer_.data[index] & 0xF) | tmp << 4;
-    }
-    cacheBuffer_.data[index] = tmp;
-    index++;
-    if (index == 512) {
-      lba++;
-      index = 0;
-      if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return false;
-      // mirror second FAT
-      if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
-    }
-    tmp = value >> 4;
-    if (!(cluster & 1)) {
-      tmp = ((cacheBuffer_.data[index] & 0xF0)) | tmp >> 4;
-    }
-    cacheBuffer_.data[index] = tmp;
-    return true;
-  }
-
-  if (fatType_ == 16)
-    lba = fatStartBlock_ + (cluster >> 8);
-  else if (fatType_ == 32)
-    lba = fatStartBlock_ + (cluster >> 7);
-  else
-    return false;
-
-  if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return false;
-
-  // store entry
-  if (fatType_ == 16)
-    cacheBuffer_.fat16[cluster & 0xFF] = value;
-  else
-    cacheBuffer_.fat32[cluster & 0x7F] = value;
-
-  // mirror second FAT
-  if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
-  return true;
-}
-
-// free a cluster chain
-bool SdVolume::freeChain(uint32_t cluster) {
-  // clear free cluster location
-  allocSearchStart_ = 2;
-
-  do {
-    uint32_t next;
-    if (!fatGet(cluster, &next)) return false;
-
-    // free cluster
-    if (!fatPut(cluster, 0)) return false;
-
-    cluster = next;
-  } while (!isEOC(cluster));
-
-  return true;
-}
-
-/** Volume free space in clusters.
- *
- * \return Count of free clusters for success or -1 if an error occurs.
- */
-int32_t SdVolume::freeClusterCount() {
-  uint32_t free = 0;
-  uint16_t n;
-  uint32_t todo = clusterCount_ + 2;
-
-  if (fatType_ == 16)
-    n = 256;
-  else if (fatType_ == 32)
-    n = 128;
-  else // put FAT12 here
-    return -1;
-
-  for (uint32_t lba = fatStartBlock_; todo; todo -= n, lba++) {
-    if (!cacheRawBlock(lba, CACHE_FOR_READ)) return -1;
-    NOMORE(n, todo);
-    if (fatType_ == 16) {
-      for (uint16_t i = 0; i < n; i++)
-        if (cacheBuffer_.fat16[i] == 0) free++;
-    }
-    else {
-      for (uint16_t i = 0; i < n; i++)
-        if (cacheBuffer_.fat32[i] == 0) free++;
-    }
-  }
-  return free;
-}
-
-/** Initialize a FAT volume.
- *
- * \param[in] dev The SD card where the volume is located.
- *
- * \param[in] part The partition to be used.  Legal values for \a part are
- * 1-4 to use the corresponding partition on a device formatted with
- * a MBR, Master Boot Record, or zero if the device is formatted as
- * a super floppy with the FAT boot sector in block zero.
- *
- * \return true for success, false for failure.
- * Reasons for failure include not finding a valid partition, not finding a valid
- * FAT file system in the specified partition or an I/O error.
- */
-bool SdVolume::init(Sd2Card* dev, uint8_t part) {
-  uint32_t totalBlocks, volumeStartBlock = 0;
-  fat32_boot_t* fbs;
-
-  sdCard_ = dev;
-  fatType_ = 0;
-  allocSearchStart_ = 2;
-  cacheDirty_ = 0;  // cacheFlush() will write block if true
-  cacheMirrorBlock_ = 0;
-  cacheBlockNumber_ = 0xFFFFFFFF;
-
-  // if part == 0 assume super floppy with FAT boot sector in block zero
-  // if part > 0 assume mbr volume with partition table
-  if (part) {
-    if (part > 4) return false;
-    if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
-    part_t* p = &cacheBuffer_.mbr.part[part - 1];
-    if ((p->boot & 0x7F) != 0  || p->totalSectors < 100 || p->firstSector == 0)
-      return false; // not a valid partition
-    volumeStartBlock = p->firstSector;
-  }
-  if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
-  fbs = &cacheBuffer_.fbs32;
-  if (fbs->bytesPerSector != 512 ||
-      fbs->fatCount == 0 ||
-      fbs->reservedSectorCount == 0 ||
-      fbs->sectorsPerCluster == 0) {
-    // not valid FAT volume
-    return false;
-  }
-  fatCount_ = fbs->fatCount;
-  blocksPerCluster_ = fbs->sectorsPerCluster;
-  // determine shift that is same as multiply by blocksPerCluster_
-  clusterSizeShift_ = 0;
-  while (blocksPerCluster_ != _BV(clusterSizeShift_)) {
-    // error if not power of 2
-    if (clusterSizeShift_++ > 7) return false;
-  }
-  blocksPerFat_ = fbs->sectorsPerFat16 ?
-                  fbs->sectorsPerFat16 : fbs->sectorsPerFat32;
-
-  fatStartBlock_ = volumeStartBlock + fbs->reservedSectorCount;
-
-  // count for FAT16 zero for FAT32
-  rootDirEntryCount_ = fbs->rootDirEntryCount;
-
-  // directory start for FAT16 dataStart for FAT32
-  rootDirStart_ = fatStartBlock_ + fbs->fatCount * blocksPerFat_;
-
-  // data start for FAT16 and FAT32
-  dataStartBlock_ = rootDirStart_ + ((32 * fbs->rootDirEntryCount + 511) / 512);
-
-  // total blocks for FAT16 or FAT32
-  totalBlocks = fbs->totalSectors16 ?
-                fbs->totalSectors16 : fbs->totalSectors32;
-
-  // total data blocks
-  clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock);
-
-  // divide by cluster size to get cluster count
-  clusterCount_ >>= clusterSizeShift_;
-
-  // FAT type is determined by cluster count
-  if (clusterCount_ < 4085) {
-    fatType_ = 12;
-    if (!FAT12_SUPPORT) return false;
-  }
-  else if (clusterCount_ < 65525)
-    fatType_ = 16;
-  else {
-    rootDirStart_ = fbs->fat32RootCluster;
-    fatType_ = 32;
-  }
-  return true;
-}
-
-#endif // SDSUPPORT
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
+#include "SdVolume.h"
+//------------------------------------------------------------------------------
+#if !USE_MULTIPLE_CARDS
+// raw block cache
+uint32_t SdVolume::cacheBlockNumber_;  // current block number
+cache_t  SdVolume::cacheBuffer_;       // 512 byte cache for Sd2Card
+Sd2Card* SdVolume::sdCard_;            // pointer to SD card object
+bool     SdVolume::cacheDirty_;        // cacheFlush() will write block if true
+uint32_t SdVolume::cacheMirrorBlock_;  // mirror  block for second FAT
+#endif  // USE_MULTIPLE_CARDS
+//------------------------------------------------------------------------------
+// find a contiguous group of clusters
+bool SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) {
+  // start of group
+  uint32_t bgnCluster;
+  // end of group
+  uint32_t endCluster;
+  // last cluster of FAT
+  uint32_t fatEnd = clusterCount_ + 1;
+
+  // flag to save place to start next search
+  bool setStart;
+
+  // set search start cluster
+  if (*curCluster) {
+    // try to make file contiguous
+    bgnCluster = *curCluster + 1;
+
+    // don't save new start location
+    setStart = false;
+  } else {
+    // start at likely place for free cluster
+    bgnCluster = allocSearchStart_;
+
+    // save next search start if one cluster
+    setStart = count == 1;
+  }
+  // end of group
+  endCluster = bgnCluster;
+
+  // search the FAT for free clusters
+  for (uint32_t n = 0;; n++, endCluster++) {
+    // can't find space checked all clusters
+    if (n >= clusterCount_) goto fail;
+
+    // past end - start from beginning of FAT
+    if (endCluster > fatEnd) {
+      bgnCluster = endCluster = 2;
+    }
+    uint32_t f;
+    if (!fatGet(endCluster, &f)) goto fail;
+
+    if (f != 0) {
+      // cluster in use try next cluster as bgnCluster
+      bgnCluster = endCluster + 1;
+    } else if ((endCluster - bgnCluster + 1) == count) {
+      // done - found space
+      break;
+    }
+  }
+  // mark end of chain
+  if (!fatPutEOC(endCluster)) goto fail;
+
+  // link clusters
+  while (endCluster > bgnCluster) {
+    if (!fatPut(endCluster - 1, endCluster)) goto fail;
+    endCluster--;
+  }
+  if (*curCluster != 0) {
+    // connect chains
+    if (!fatPut(*curCluster, bgnCluster)) goto fail;
+  }
+  // return first cluster number to caller
+  *curCluster = bgnCluster;
+
+  // remember possible next free cluster
+  if (setStart) allocSearchStart_ = bgnCluster + 1;
+
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdVolume::cacheFlush() {
+  if (cacheDirty_) {
+    if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) {
+      goto fail;
+    }
+    // mirror FAT tables
+    if (cacheMirrorBlock_) {
+      if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) {
+        goto fail;
+      }
+      cacheMirrorBlock_ = 0;
+    }
+    cacheDirty_ = 0;
+  }
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdVolume::cacheRawBlock(uint32_t blockNumber, bool dirty) {
+  if (cacheBlockNumber_ != blockNumber) {
+    if (!cacheFlush()) goto fail;
+    if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) goto fail;
+    cacheBlockNumber_ = blockNumber;
+  }
+  if (dirty) cacheDirty_ = true;
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// return the size in bytes of a cluster chain
+bool SdVolume::chainSize(uint32_t cluster, uint32_t* size) {
+  uint32_t s = 0;
+  do {
+    if (!fatGet(cluster, &cluster)) goto fail;
+    s += 512UL << clusterSizeShift_;
+  } while (!isEOC(cluster));
+  *size = s;
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// Fetch a FAT entry
+bool SdVolume::fatGet(uint32_t cluster, uint32_t* value) {
+  uint32_t lba;
+  if (cluster > (clusterCount_ + 1)) goto fail;
+  if (FAT12_SUPPORT && fatType_ == 12) {
+    uint16_t index = cluster;
+    index += index >> 1;
+    lba = fatStartBlock_ + (index >> 9);
+    if (!cacheRawBlock(lba, CACHE_FOR_READ)) goto fail;
+    index &= 0X1FF;
+    uint16_t tmp = cacheBuffer_.data[index];
+    index++;
+    if (index == 512) {
+      if (!cacheRawBlock(lba + 1, CACHE_FOR_READ)) goto fail;
+      index = 0;
+    }
+    tmp |= cacheBuffer_.data[index] << 8;
+    *value = cluster & 1 ? tmp >> 4 : tmp & 0XFFF;
+    return true;
+  }
+  if (fatType_ == 16) {
+    lba = fatStartBlock_ + (cluster >> 8);
+  } else if (fatType_ == 32) {
+    lba = fatStartBlock_ + (cluster >> 7);
+  } else {
+    goto fail;
+  }
+  if (lba != cacheBlockNumber_) {
+    if (!cacheRawBlock(lba, CACHE_FOR_READ)) goto fail;
+  }
+  if (fatType_ == 16) {
+    *value = cacheBuffer_.fat16[cluster & 0XFF];
+  } else {
+    *value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK;
+  }
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// Store a FAT entry
+bool SdVolume::fatPut(uint32_t cluster, uint32_t value) {
+  uint32_t lba;
+  // error if reserved cluster
+  if (cluster < 2) goto fail;
+
+  // error if not in FAT
+  if (cluster > (clusterCount_ + 1)) goto fail;
+
+  if (FAT12_SUPPORT && fatType_ == 12) {
+    uint16_t index = cluster;
+    index += index >> 1;
+    lba = fatStartBlock_ + (index >> 9);
+    if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail;
+    // mirror second FAT
+    if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
+    index &= 0X1FF;
+    uint8_t tmp = value;
+    if (cluster & 1) {
+      tmp = (cacheBuffer_.data[index] & 0XF) | tmp << 4;
+    }
+    cacheBuffer_.data[index] = tmp;
+    index++;
+    if (index == 512) {
+      lba++;
+      index = 0;
+      if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail;
+      // mirror second FAT
+      if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
+    }
+    tmp = value >> 4;
+    if (!(cluster & 1)) {
+      tmp = ((cacheBuffer_.data[index] & 0XF0)) | tmp >> 4;
+    }
+    cacheBuffer_.data[index] = tmp;
+    return true;
+  }
+  if (fatType_ == 16) {
+    lba = fatStartBlock_ + (cluster >> 8);
+  } else if (fatType_ == 32) {
+    lba = fatStartBlock_ + (cluster >> 7);
+  } else {
+    goto fail;
+  }
+  if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail;
+  // store entry
+  if (fatType_ == 16) {
+    cacheBuffer_.fat16[cluster & 0XFF] = value;
+  } else {
+    cacheBuffer_.fat32[cluster & 0X7F] = value;
+  }
+  // mirror second FAT
+  if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// free a cluster chain
+bool SdVolume::freeChain(uint32_t cluster) {
+  uint32_t next;
+
+  // clear free cluster location
+  allocSearchStart_ = 2;
+
+  do {
+    if (!fatGet(cluster, &next)) goto fail;
+
+    // free cluster
+    if (!fatPut(cluster, 0)) goto fail;
+
+    cluster = next;
+  } while (!isEOC(cluster));
+
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+/** Volume free space in clusters.
+ *
+ * \return Count of free clusters for success or -1 if an error occurs.
+ */
+int32_t SdVolume::freeClusterCount() {
+  uint32_t free = 0;
+  uint16_t n;
+  uint32_t todo = clusterCount_ + 2;
+
+  if (fatType_ == 16) {
+    n = 256;
+  } else if (fatType_ == 32) {
+    n = 128;
+  } else {
+    // put FAT12 here
+    return -1;
+  }
+
+  for (uint32_t lba = fatStartBlock_; todo; todo -= n, lba++) {
+    if (!cacheRawBlock(lba, CACHE_FOR_READ)) return -1;
+    if (todo < n) n = todo;
+    if (fatType_ == 16) {
+      for (uint16_t i = 0; i < n; i++) {
+        if (cacheBuffer_.fat16[i] == 0) free++;
+      }
+    } else {
+      for (uint16_t i = 0; i < n; i++) {
+        if (cacheBuffer_.fat32[i] == 0) free++;
+      }
+    }
+  }
+  return free;
+}
+//------------------------------------------------------------------------------
+/** Initialize a FAT volume.
+ *
+ * \param[in] dev The SD card where the volume is located.
+ *
+ * \param[in] part The partition to be used.  Legal values for \a part are
+ * 1-4 to use the corresponding partition on a device formatted with
+ * a MBR, Master Boot Record, or zero if the device is formatted as
+ * a super floppy with the FAT boot sector in block zero.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.  Reasons for
+ * failure include not finding a valid partition, not finding a valid
+ * FAT file system in the specified partition or an I/O error.
+ */
+bool SdVolume::init(Sd2Card* dev, uint8_t part) {
+  uint32_t totalBlocks;
+  uint32_t volumeStartBlock = 0;
+  fat32_boot_t* fbs;
+
+  sdCard_ = dev;
+  fatType_ = 0;
+  allocSearchStart_ = 2;
+  cacheDirty_ = 0;  // cacheFlush() will write block if true
+  cacheMirrorBlock_ = 0;
+  cacheBlockNumber_ = 0XFFFFFFFF;
+
+  // if part == 0 assume super floppy with FAT boot sector in block zero
+  // if part > 0 assume mbr volume with partition table
+  if (part) {
+    if (part > 4)goto fail;
+    if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) goto fail;
+    part_t* p = &cacheBuffer_.mbr.part[part-1];
+    if ((p->boot & 0X7F) !=0  ||
+      p->totalSectors < 100 ||
+      p->firstSector == 0) {
+      // not a valid partition
+      goto fail;
+    }
+    volumeStartBlock = p->firstSector;
+  }
+  if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) goto fail;
+  fbs = &cacheBuffer_.fbs32;
+  if (fbs->bytesPerSector != 512 ||
+    fbs->fatCount == 0 ||
+    fbs->reservedSectorCount == 0 ||
+    fbs->sectorsPerCluster == 0) {
+       // not valid FAT volume
+      goto fail;
+  }
+  fatCount_ = fbs->fatCount;
+  blocksPerCluster_ = fbs->sectorsPerCluster;
+  // determine shift that is same as multiply by blocksPerCluster_
+  clusterSizeShift_ = 0;
+  while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
+    // error if not power of 2
+    if (clusterSizeShift_++ > 7) goto fail;
+  }
+  blocksPerFat_ = fbs->sectorsPerFat16 ?
+                    fbs->sectorsPerFat16 : fbs->sectorsPerFat32;
+
+  fatStartBlock_ = volumeStartBlock + fbs->reservedSectorCount;
+
+  // count for FAT16 zero for FAT32
+  rootDirEntryCount_ = fbs->rootDirEntryCount;
+
+  // directory start for FAT16 dataStart for FAT32
+  rootDirStart_ = fatStartBlock_ + fbs->fatCount * blocksPerFat_;
+
+  // data start for FAT16 and FAT32
+  dataStartBlock_ = rootDirStart_ + ((32 * fbs->rootDirEntryCount + 511)/512);
+
+  // total blocks for FAT16 or FAT32
+  totalBlocks = fbs->totalSectors16 ?
+                           fbs->totalSectors16 : fbs->totalSectors32;
+  // total data blocks
+  clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock);
+
+  // divide by cluster size to get cluster count
+  clusterCount_ >>= clusterSizeShift_;
+
+  // FAT type is determined by cluster count
+  if (clusterCount_ < 4085) {
+    fatType_ = 12;
+    if (!FAT12_SUPPORT) goto fail;
+  } else if (clusterCount_ < 65525) {
+    fatType_ = 16;
+  } else {
+    rootDirStart_ = fbs->fat32RootCluster;
+    fatType_ = 32;
+  }
+  return true;
+
+ fail:
+  return false;
+}
+#endif

Marlin/SdVolume.h

@@ -0,0 +1,214 @@
+/* Arduino SdFat Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+#ifndef SdVolume_h
+#define SdVolume_h
+/**
+ * \file
+ * \brief SdVolume class
+ */
+#include "SdFatConfig.h"
+#include "Sd2Card.h"
+#include "SdFatStructs.h"
+
+//==============================================================================
+// SdVolume class
+/**
+ * \brief Cache for an SD data block
+ */
+union cache_t {
+           /** Used to access cached file data blocks. */
+  uint8_t  data[512];
+           /** Used to access cached FAT16 entries. */
+  uint16_t fat16[256];
+           /** Used to access cached FAT32 entries. */
+  uint32_t fat32[128];
+           /** Used to access cached directory entries. */
+  dir_t    dir[16];
+           /** Used to access a cached Master Boot Record. */
+  mbr_t    mbr;
+           /** Used to access to a cached FAT boot sector. */
+  fat_boot_t fbs;
+           /** Used to access to a cached FAT32 boot sector. */
+  fat32_boot_t fbs32;
+           /** Used to access to a cached FAT32 FSINFO sector. */
+  fat32_fsinfo_t fsinfo;
+};
+//------------------------------------------------------------------------------
+/**
+ * \class SdVolume
+ * \brief Access FAT16 and FAT32 volumes on SD and SDHC cards.
+ */
+class SdVolume {
+ public:
+  /** Create an instance of SdVolume */
+  SdVolume() : fatType_(0) {}
+  /** Clear the cache and returns a pointer to the cache.  Used by the WaveRP
+   * recorder to do raw write to the SD card.  Not for normal apps.
+   * \return A pointer to the cache buffer or zero if an error occurs.
+   */
+  cache_t* cacheClear() {
+    if (!cacheFlush()) return 0;
+    cacheBlockNumber_ = 0XFFFFFFFF;
+    return &cacheBuffer_;
+  }
+  /** Initialize a FAT volume.  Try partition one first then try super
+   * floppy format.
+   *
+   * \param[in] dev The Sd2Card where the volume is located.
+   *
+   * \return The value one, true, is returned for success and
+   * the value zero, false, is returned for failure.  Reasons for
+   * failure include not finding a valid partition, not finding a valid
+   * FAT file system or an I/O error.
+   */
+  bool init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);}
+  bool init(Sd2Card* dev, uint8_t part);
+
+  // inline functions that return volume info
+  /** \return The volume's cluster size in blocks. */
+  uint8_t blocksPerCluster() const {return blocksPerCluster_;}
+  /** \return The number of blocks in one FAT. */
+  uint32_t blocksPerFat()  const {return blocksPerFat_;}
+  /** \return The total number of clusters in the volume. */
+  uint32_t clusterCount() const {return clusterCount_;}
+  /** \return The shift count required to multiply by blocksPerCluster. */
+  uint8_t clusterSizeShift() const {return clusterSizeShift_;}
+  /** \return The logical block number for the start of file data. */
+  uint32_t dataStartBlock() const {return dataStartBlock_;}
+  /** \return The number of FAT structures on the volume. */
+  uint8_t fatCount() const {return fatCount_;}
+  /** \return The logical block number for the start of the first FAT. */
+  uint32_t fatStartBlock() const {return fatStartBlock_;}
+  /** \return The FAT type of the volume. Values are 12, 16 or 32. */
+  uint8_t fatType() const {return fatType_;}
+  int32_t freeClusterCount();
+  /** \return The number of entries in the root directory for FAT16 volumes. */
+  uint32_t rootDirEntryCount() const {return rootDirEntryCount_;}
+  /** \return The logical block number for the start of the root directory
+       on FAT16 volumes or the first cluster number on FAT32 volumes. */
+  uint32_t rootDirStart() const {return rootDirStart_;}
+  /** Sd2Card object for this volume
+   * \return pointer to Sd2Card object.
+   */
+  Sd2Card* sdCard() {return sdCard_;}
+  /** Debug access to FAT table
+   *
+   * \param[in] n cluster number.
+   * \param[out] v value of entry
+   * \return true for success or false for failure
+   */
+  bool dbgFat(uint32_t n, uint32_t* v) {return fatGet(n, v);}
+//------------------------------------------------------------------------------
+ private:
+  // Allow SdBaseFile access to SdVolume private data.
+  friend class SdBaseFile;
+
+  // value for dirty argument in cacheRawBlock to indicate read from cache
+  static bool const CACHE_FOR_READ = false;
+  // value for dirty argument in cacheRawBlock to indicate write to cache
+  static bool const CACHE_FOR_WRITE = true;
+
+#if USE_MULTIPLE_CARDS
+  cache_t cacheBuffer_;        // 512 byte cache for device blocks
+  uint32_t cacheBlockNumber_;  // Logical number of block in the cache
+  Sd2Card* sdCard_;            // Sd2Card object for cache
+  bool cacheDirty_;            // cacheFlush() will write block if true
+  uint32_t cacheMirrorBlock_;  // block number for mirror FAT
+#else  // USE_MULTIPLE_CARDS
+  static cache_t cacheBuffer_;        // 512 byte cache for device blocks
+  static uint32_t cacheBlockNumber_;  // Logical number of block in the cache
+  static Sd2Card* sdCard_;            // Sd2Card object for cache
+  static bool cacheDirty_;            // cacheFlush() will write block if true
+  static uint32_t cacheMirrorBlock_;  // block number for mirror FAT
+#endif  // USE_MULTIPLE_CARDS
+  uint32_t allocSearchStart_;   // start cluster for alloc search
+  uint8_t blocksPerCluster_;    // cluster size in blocks
+  uint32_t blocksPerFat_;       // FAT size in blocks
+  uint32_t clusterCount_;       // clusters in one FAT
+  uint8_t clusterSizeShift_;    // shift to convert cluster count to block count
+  uint32_t dataStartBlock_;     // first data block number
+  uint8_t fatCount_;            // number of FATs on volume
+  uint32_t fatStartBlock_;      // start block for first FAT
+  uint8_t fatType_;             // volume type (12, 16, OR 32)
+  uint16_t rootDirEntryCount_;  // number of entries in FAT16 root dir
+  uint32_t rootDirStart_;       // root start block for FAT16, cluster for FAT32
+  //----------------------------------------------------------------------------
+  bool allocContiguous(uint32_t count, uint32_t* curCluster);
+  uint8_t blockOfCluster(uint32_t position) const {
+          return (position >> 9) & (blocksPerCluster_ - 1);}
+  uint32_t clusterStartBlock(uint32_t cluster) const {
+           return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);}
+  uint32_t blockNumber(uint32_t cluster, uint32_t position) const {
+           return clusterStartBlock(cluster) + blockOfCluster(position);}
+  cache_t *cache() {return &cacheBuffer_;}
+  uint32_t cacheBlockNumber() {return cacheBlockNumber_;}
+#if USE_MULTIPLE_CARDS
+  bool cacheFlush();
+  bool cacheRawBlock(uint32_t blockNumber, bool dirty);
+#else  // USE_MULTIPLE_CARDS
+  static bool cacheFlush();
+  static bool cacheRawBlock(uint32_t blockNumber, bool dirty);
+#endif  // USE_MULTIPLE_CARDS
+  // used by SdBaseFile write to assign cache to SD location
+  void cacheSetBlockNumber(uint32_t blockNumber, bool dirty) {
+    cacheDirty_ = dirty;
+    cacheBlockNumber_  = blockNumber;
+  }
+  void cacheSetDirty() {cacheDirty_ |= CACHE_FOR_WRITE;}
+  bool chainSize(uint32_t beginCluster, uint32_t* size);
+  bool fatGet(uint32_t cluster, uint32_t* value);
+  bool fatPut(uint32_t cluster, uint32_t value);
+  bool fatPutEOC(uint32_t cluster) {
+    return fatPut(cluster, 0x0FFFFFFF);
+  }
+  bool freeChain(uint32_t cluster);
+  bool isEOC(uint32_t cluster) const {
+    if (FAT12_SUPPORT && fatType_ == 12) return  cluster >= FAT12EOC_MIN;
+    if (fatType_ == 16) return cluster >= FAT16EOC_MIN;
+    return  cluster >= FAT32EOC_MIN;
+  }
+  bool readBlock(uint32_t block, uint8_t* dst) {
+    return sdCard_->readBlock(block, dst);}
+  bool writeBlock(uint32_t block, const uint8_t* dst) {
+    return sdCard_->writeBlock(block, dst);
+  }
+//------------------------------------------------------------------------------
+  // Deprecated functions  - suppress cpplint warnings with NOLINT comment
+#if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN)
+ public:
+  /** \deprecated Use: bool SdVolume::init(Sd2Card* dev);
+   * \param[in] dev The SD card where the volume is located.
+   * \return true for success or false for failure.
+   */
+  bool init(Sd2Card& dev) {return init(&dev);}  // NOLINT
+  /** \deprecated Use: bool SdVolume::init(Sd2Card* dev, uint8_t vol);
+   * \param[in] dev The SD card where the volume is located.
+   * \param[in] part The partition to be used.
+   * \return true for success or false for failure.
+   */
+  bool init(Sd2Card& dev, uint8_t part) {  // NOLINT
+    return init(&dev, part);
+  }
+#endif  // ALLOW_DEPRECATED_FUNCTIONS
+};
+#endif  // SdVolume
+#endif

Marlin/Version.h

@@ -1,76 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-////////////////////////////
-// VENDOR VERSION EXAMPLE //
-////////////////////////////
-
-/**
- * Marlin release version identifier
- */
-//#define SHORT_BUILD_VERSION "bugfix-2.0.x"
-
-/**
- * Verbose version identifier which should contain a reference to the location
- * from where the binary was downloaded or the source code was compiled.
- */
-//#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION " (Github)"
-
-/**
- * The STRING_DISTRIBUTION_DATE represents when the binary file was built,
- * here we define this default string as the date where the latest release
- * version was tagged.
- */
-//#define STRING_DISTRIBUTION_DATE "2019-07-10"
-
-/**
- * Defines a generic printer name to be output to the LCD after booting Marlin.
- */
-//#define MACHINE_NAME "3D Printer"
-
-/**
- * The SOURCE_CODE_URL is the location where users will find the Marlin Source
- * Code which is installed on the device. In most cases —unless the manufacturer
- * has a distinct Github fork— the Source Code URL should just be the main
- * Marlin repository.
- */
-//#define SOURCE_CODE_URL "https://github.com/MarlinFirmware/Marlin"
-
-/**
- * Default generic printer UUID.
- */
-//#define DEFAULT_MACHINE_UUID "cede2a2f-41a2-4748-9b12-c55c62f367ff"
-
-/**
- * The WEBSITE_URL is the location where users can get more information such as
- * documentation about a specific Marlin release.
- */
-//#define WEBSITE_URL "http://marlinfw.org"
-
-/**
- * Set the vendor info the serial USB interface, if changable
- * Currently only supported by DUE platform
- */
-//#define  USB_DEVICE_VENDOR_ID           0x0000
-//#define  USB_DEVICE_PRODUCT_ID          0x0000
-//#define  USB_DEVICE_MANUFACTURE_NAME    WEBSITE_URL

Marlin/cardreader.cpp

@@ -0,0 +1,634 @@
+#include "Marlin.h"
+#include "cardreader.h"
+#include "ultralcd.h"
+#include "stepper.h"
+#include "temperature.h"
+#include "language.h"
+
+#ifdef SDSUPPORT
+
+
+
+CardReader::CardReader()
+{
+   filesize = 0;
+   sdpos = 0;
+   sdprinting = false;
+   cardOK = false;
+   saving = false;
+   autostart_atmillis=0;
+
+   autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+   lastnr=0;
+  //power to SD reader
+  #if SDPOWER > -1
+    SET_OUTPUT(SDPOWER); 
+    WRITE(SDPOWER,HIGH);
+  #endif //SDPOWER
+  
+  autostart_atmillis=millis()+5000;
+}
+
+char *createFilename(char *buffer,const dir_t &p) //buffer>12characters
+{
+  char *pos=buffer;
+  for (uint8_t i = 0; i < 11; i++) 
+  {
+    if (p.name[i] == ' ')continue;
+    if (i == 8) 
+    {
+      *pos++='.';
+    }
+    *pos++=p.name[i];
+  }
+  *pos++=0;
+  return buffer;
+}
+
+
+void  CardReader::lsDive(const char *prepend,SdFile parent)
+{
+  dir_t p;
+ uint8_t cnt=0;
+ 
+  while (parent.readDir(p) > 0)
+  {
+    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
+    {
+
+      char path[13*2];
+      char lfilename[13];
+      createFilename(lfilename,p);
+      
+      path[0]=0;
+      if(strlen(prepend)==0) //avoid leading / if already in prepend
+      {
+       strcat(path,"/");
+      }
+      strcat(path,prepend);
+      strcat(path,lfilename);
+      strcat(path,"/");
+      
+      //Serial.print(path);
+      
+      SdFile dir;
+      if(!dir.open(parent,lfilename, O_READ))
+      {
+        if(lsAction==LS_SerialPrint)
+        {
+          SERIAL_ECHO_START;
+          SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
+          SERIAL_ECHOLN(lfilename);
+        }
+      }
+      lsDive(path,dir);
+      //close done automatically by destructor of SdFile
+
+      
+    }
+    else
+    {
+      if (p.name[0] == DIR_NAME_FREE) break;
+      if (p.name[0] == DIR_NAME_DELETED || p.name[0] == '.'|| p.name[0] == '_') continue;
+      if ( p.name[0] == '.')
+      {
+        if ( p.name[1] != '.')
+        continue;
+      }
+      
+      if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
+      filenameIsDir=DIR_IS_SUBDIR(&p);
+      
+      
+      if(!filenameIsDir)
+      {
+        if(p.name[8]!='G') continue;
+        if(p.name[9]=='~') continue;
+      }
+      //if(cnt++!=nr) continue;
+      createFilename(filename,p);
+      if(lsAction==LS_SerialPrint)
+      {
+        SERIAL_PROTOCOL(prepend);
+        SERIAL_PROTOCOLLN(filename);
+      }
+      else if(lsAction==LS_Count)
+      {
+        nrFiles++;
+      } 
+      else if(lsAction==LS_GetFilename)
+      {
+        if(cnt==nrFiles)
+          return;
+        cnt++;
+        
+      }
+    }
+  }
+}
+
+void CardReader::ls() 
+{
+  lsAction=LS_SerialPrint;
+  if(lsAction==LS_Count)
+  nrFiles=0;
+
+  root.rewind();
+  lsDive("",root);
+}
+
+
+void CardReader::initsd()
+{
+  cardOK = false;
+  if(root.isOpen())
+    root.close();
+  if (!card.init(SPI_FULL_SPEED,SDSS))
+  {
+    //if (!card.init(SPI_HALF_SPEED,SDSS))
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL);
+  }
+  else if (!volume.init(&card))
+  {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL);
+  }
+  else if (!root.openRoot(&volume)) 
+  {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL);
+  }
+  else 
+  {
+    cardOK = true;
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
+  }
+  workDir=root;
+  curDir=&root;
+  /*
+  if(!workDir.openRoot(&volume))
+  {
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
+  }
+  */
+  
+}
+
+void CardReader::setroot()
+{
+  /*if(!workDir.openRoot(&volume))
+  {
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
+  }*/
+  workDir=root;
+  
+  curDir=&workDir;
+}
+void CardReader::release()
+{
+  sdprinting = false;
+  cardOK = false;
+}
+
+void CardReader::startFileprint()
+{
+  if(cardOK)
+  {
+    sdprinting = true;
+    
+  }
+}
+
+void CardReader::pauseSDPrint()
+{
+  if(sdprinting)
+  {
+    sdprinting = false;
+  }
+}
+
+
+
+void CardReader::openFile(char* name,bool read)
+{
+  if(!cardOK)
+    return;
+  file.close();
+  sdprinting = false;
+  
+  
+  SdFile myDir;
+  curDir=&root;
+  char *fname=name;
+  
+  char *dirname_start,*dirname_end;
+  if(name[0]=='/')
+  {
+    dirname_start=strchr(name,'/')+1;
+    while(dirname_start>0)
+    {
+      dirname_end=strchr(dirname_start,'/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
+      if(dirname_end>0 && dirname_end>dirname_start)
+      {
+        char subdirname[13];
+        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
+        subdirname[dirname_end-dirname_start]=0;
+        SERIAL_ECHOLN(subdirname);
+        if(!myDir.open(curDir,subdirname,O_READ))
+        {
+          SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
+          SERIAL_PROTOCOL(subdirname);
+          SERIAL_PROTOCOLLNPGM(".");
+          return;
+        }
+        else
+          ;//SERIAL_ECHOLN("dive ok");
+          
+        curDir=&myDir; 
+        dirname_start=dirname_end+1;
+      }
+      else // the reminder after all /fsa/fdsa/ is the filename
+      {
+        fname=dirname_start;
+        //SERIAL_ECHOLN("remaider");
+        //SERIAL_ECHOLN(fname);
+        break;
+      }
+      
+    }
+  }
+  else //relative path
+  {
+    curDir=&workDir;
+  }
+  if(read)
+  {
+    if (file.open(curDir, fname, O_READ)) 
+    {
+      filesize = file.fileSize();
+      SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
+      SERIAL_PROTOCOLLN(filesize);
+      sdpos = 0;
+      
+      SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
+      LCD_MESSAGE(fname);
+    }
+    else
+    {
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLLNPGM(".");
+    }
+  }
+  else 
+  { //write
+    if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
+    {
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLLNPGM(".");
+    }
+    else
+    {
+      saving = true;
+      SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
+      SERIAL_PROTOCOLLN(name);
+      LCD_MESSAGE(fname);
+    }
+  }
+  
+}
+
+void CardReader::removeFile(char* name)
+{
+  if(!cardOK)
+    return;
+  file.close();
+  sdprinting = false;
+  
+  
+  SdFile myDir;
+  curDir=&root;
+  char *fname=name;
+  
+  char *dirname_start,*dirname_end;
+  if(name[0]=='/')
+  {
+    dirname_start=strchr(name,'/')+1;
+    while(dirname_start>0)
+    {
+      dirname_end=strchr(dirname_start,'/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
+      if(dirname_end>0 && dirname_end>dirname_start)
+      {
+        char subdirname[13];
+        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
+        subdirname[dirname_end-dirname_start]=0;
+        SERIAL_ECHOLN(subdirname);
+        if(!myDir.open(curDir,subdirname,O_READ))
+        {
+          SERIAL_PROTOCOLPGM("open failed, File: ");
+          SERIAL_PROTOCOL(subdirname);
+          SERIAL_PROTOCOLLNPGM(".");
+          return;
+        }
+        else
+          ;//SERIAL_ECHOLN("dive ok");
+          
+        curDir=&myDir; 
+        dirname_start=dirname_end+1;
+      }
+      else // the reminder after all /fsa/fdsa/ is the filename
+      {
+        fname=dirname_start;
+        //SERIAL_ECHOLN("remaider");
+        //SERIAL_ECHOLN(fname);
+        break;
+      }
+      
+    }
+  }
+  else //relative path
+  {
+    curDir=&workDir;
+  }
+    if (file.remove(curDir, fname)) 
+    {
+      SERIAL_PROTOCOLPGM("File deleted:");
+      SERIAL_PROTOCOL(fname);
+      sdpos = 0;
+    }
+    else
+    {
+      SERIAL_PROTOCOLPGM("Deletion failed, File: ");
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLLNPGM(".");
+    }
+  
+}
+
+void CardReader::getStatus()
+{
+  if(cardOK){
+    SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
+    SERIAL_PROTOCOL(sdpos);
+    SERIAL_PROTOCOLPGM("/");
+    SERIAL_PROTOCOLLN(filesize);
+  }
+  else{
+    SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
+  }
+}
+void CardReader::write_command(char *buf)
+{
+  char* begin = buf;
+  char* npos = 0;
+  char* end = buf + strlen(buf) - 1;
+
+  file.writeError = false;
+  if((npos = strchr(buf, 'N')) != NULL)
+  {
+    begin = strchr(npos, ' ') + 1;
+    end = strchr(npos, '*') - 1;
+  }
+  end[1] = '\r';
+  end[2] = '\n';
+  end[3] = '\0';
+  file.write(begin);
+  if (file.writeError)
+  {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE);
+  }
+}
+
+
+void CardReader::checkautostart(bool force)
+{
+  if(!force)
+  {
+    if(!autostart_stilltocheck)
+      return;
+    if(autostart_atmillis<millis())
+      return;
+  }
+  autostart_stilltocheck=false;
+  if(!cardOK)
+  {
+    initsd();
+    if(!cardOK) //fail
+      return;
+  }
+  
+  char autoname[30];
+  sprintf(autoname,"auto%i.g",lastnr);
+  for(int8_t i=0;i<(int)strlen(autoname);i++)
+    autoname[i]=tolower(autoname[i]);
+  dir_t p;
+
+  root.rewind();
+  
+  bool found=false;
+  while (root.readDir(p) > 0) 
+  {
+    for(int8_t i=0;i<(int)strlen((char*)p.name);i++)
+    p.name[i]=tolower(p.name[i]);
+    //Serial.print((char*)p.name);
+    //Serial.print(" ");
+    //Serial.println(autoname);
+    if(p.name[9]!='~') //skip safety copies
+    if(strncmp((char*)p.name,autoname,5)==0)
+    {
+      char cmd[30];
+
+      sprintf(cmd,"M23 %s",autoname);
+      enquecommand(cmd);
+      enquecommand("M24");
+      found=true;
+    }
+  }
+  if(!found)
+    lastnr=-1;
+  else
+    lastnr++;
+}
+
+void CardReader::closefile()
+{
+  file.sync();
+  file.close();
+  saving = false; 
+}
+
+void CardReader::getfilename(const uint8_t nr)
+{
+  curDir=&workDir;
+  lsAction=LS_GetFilename;
+  nrFiles=nr;
+  curDir->rewind();
+  lsDive("",*curDir);
+  
+}
+
+uint16_t CardReader::getnrfilenames()
+{
+  curDir=&workDir;
+  lsAction=LS_Count;
+  nrFiles=0;
+  curDir->rewind();
+  lsDive("",*curDir);
+  //SERIAL_ECHOLN(nrFiles);
+  return nrFiles;
+}
+
+void CardReader::chdir(const char * relpath)
+{
+  SdFile newfile;
+  SdFile *parent=&root;
+  
+  if(workDir.isOpen())
+    parent=&workDir;
+  
+  if(!newfile.open(*parent,relpath, O_READ))
+  {
+   SERIAL_ECHO_START;
+   SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
+   SERIAL_ECHOLN(relpath);
+  }
+  else
+  {
+    workDirParentParent=workDirParent;
+    workDirParent=*parent;
+    
+    workDir=newfile;
+  }
+}
+
+void CardReader::updir()
+{
+  if(!workDir.isRoot())
+  {
+    workDir=workDirParent;
+    workDirParent=workDirParentParent;
+  }
+}
+
+
+void CardReader::printingHasFinished()
+{
+ st_synchronize();
+ quickStop();
+ sdprinting = false;
+ if(SD_FINISHED_STEPPERRELEASE)
+ {
+   //finishAndDisableSteppers();
+   enquecommand(SD_FINISHED_RELEASECOMMAND);
+ }
+ autotempShutdown();
+}
+void CardReader::fast_xfer(char* strchr_pointer)
+  {
+    char *pstr;
+    boolean done = false;
+    
+    //force heater pins low
+    if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW);
+    if(HEATER_BED_PIN > -1) WRITE(HEATER_BED_PIN,LOW);
+    
+    lastxferchar = 1;
+    xferbytes = 0;
+    
+    pstr = strstr(strchr_pointer, " ");
+    //pstr = strchr_pointer;
+
+    if(pstr == NULL)
+    {
+      SERIAL_ECHOLN("invalid command");
+      return;
+    }
+    
+    *pstr = '\0';
+    
+    //check mode (currently only RAW is supported
+    if(strcmp(strchr_pointer, "RAW") != 0)
+    {
+      SERIAL_ECHOLN("Invalid transfer codec");
+      return;
+    }else{
+      SERIAL_ECHOPGM("Selected codec: ");
+      SERIAL_ECHOLN(strchr_pointer+4);
+    }
+    
+    if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
+    {
+      SERIAL_ECHOPGM("open failed, File: ");
+      SERIAL_ECHOLN(pstr+1);
+      SERIAL_ECHOPGM(".");
+    }else{
+      SERIAL_ECHOPGM("Writing to file: ");
+      SERIAL_ECHOLN(pstr+1);
+    }
+        
+    SERIAL_ECHOLN("ok");
+    
+    //RAW transfer codec
+    //Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0
+    //when host is done, it sends \0\0.
+    //if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer.
+    
+    //read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved)
+    while(!done)
+    {
+      while(!MYSERIAL.available())
+      {
+      }
+      if(MYSERIAL.peek() != 0)
+      {
+        //host has failed, this isn't a RAW chunk, it's an actual command
+        file.sync();
+        file.close();
+        SERIAL_ECHOLN("Not RAW data");
+        return;
+      }
+      //clear the initial 0
+      MYSERIAL.read();
+      for(int i=0;i<SD_FAST_XFER_CHUNK_SIZE+1;i++)
+      {
+        while(!MYSERIAL.available())
+        {
+        }
+        lastxferchar = MYSERIAL.read();
+        //buffer the data...
+        fastxferbuffer[i] = lastxferchar;
+        
+        xferbytes++;
+        
+        if(lastxferchar == 0)
+          break;
+      }
+      
+      if(fastxferbuffer[0] != 0)
+      {
+        fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE] = 0;
+        file.write(fastxferbuffer);
+        SERIAL_ECHOLN("ok");
+      }else{
+        SERIAL_ECHOPGM("Wrote ");
+        SERIAL_ECHO(xferbytes);
+        SERIAL_ECHOLN(" bytes.");
+        done = true;
+      }
+    }
+
+    file.sync();
+    file.close();
+  }
+
+#endif //SDSUPPORT

Marlin/cardreader.h

@@ -0,0 +1,80 @@
+#ifndef CARDREADER_H
+#define CARDREADER_H
+
+#ifdef SDSUPPORT
+
+#include "SdFile.h"
+enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
+class CardReader
+{
+public:
+  CardReader();
+  
+  void initsd();
+  void write_command(char *buf);
+  //files auto[0-9].g on the sd card are performed in a row
+  //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset
+
+  void checkautostart(bool x); 
+  void openFile(char* name,bool read);
+  void removeFile(char* name);
+  void closefile();
+  void release();
+  void startFileprint();
+  void pauseSDPrint();
+  void getStatus();
+  void printingHasFinished();
+
+  void getfilename(const uint8_t nr);
+  uint16_t getnrfilenames();
+  
+
+  void ls();
+  void chdir(const char * relpath);
+  void updir();
+  void setroot();
+  
+  void fast_xfer(char* strchr_pointer);
+
+
+  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
+  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
+  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
+  FORCE_INLINE uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
+
+public:
+  bool saving;
+  bool sdprinting ;  
+  bool cardOK ;
+  char filename[12];
+  bool filenameIsDir;
+  int lastnr; //last number of the autostart;
+  char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1];
+private:
+  SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
+  Sd2Card card;
+  SdVolume volume;
+  SdFile file;
+  uint32_t filesize;
+  //int16_t n;
+  unsigned long autostart_atmillis;
+  uint32_t sdpos ;
+
+  bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+  
+  LsAction lsAction; //stored for recursion.
+  int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
+  char* diveDirName;
+  void lsDive(const char *prepend,SdFile parent);
+  int lastxferchar;
+  long xferbytes;
+};
+#define IS_SD_PRINTING (card.sdprinting)
+
+#else
+
+#define IS_SD_PRINTING (false)
+
+#endif //SDSUPPORT
+#endif

Marlin/createTemperatureLookup.py

@@ -0,0 +1,127 @@
+#!/usr/bin/python
+#
+# Creates a C code lookup table for doing ADC to temperature conversion
+# on a microcontroller
+# based on: http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
+"""Thermistor Value Lookup Table Generator
+
+Generates lookup to temperature values for use in a microcontroller in C format based on: 
+http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
+
+The main use is for Arduino programs that read data from the circuit board described here:
+http://make.rrrf.org/ts-1.0
+
+Usage: python createTemperatureLookup.py [options]
+
+Options:
+  -h, --help            show this help
+  --r0=...          thermistor rating where # is the ohm rating of the thermistor at t0 (eg: 10K = 10000)
+  --t0=...          thermistor temp rating where # is the temperature in Celsuis to get r0 (from your datasheet)
+  --beta=...            thermistor beta rating. see http://reprap.org/bin/view/Main/MeasuringThermistorBeta
+  --r1=...          R1 rating where # is the ohm rating of R1 (eg: 10K = 10000)
+  --r2=...          R2 rating where # is the ohm rating of R2 (eg: 10K = 10000)
+  --num-temps=...   the number of temperature points to calculate (default: 20)
+  --max-adc=...     the max ADC reading to use.  if you use R1, it limits the top value for the thermistor circuit, and thus the possible range of ADC values
+"""
+
+from math import *
+import sys
+import getopt
+
+class Thermistor:
+    "Class to do the thermistor maths"
+    def __init__(self, r0, t0, beta, r1, r2):
+        self.r0 = r0                        # stated resistance, e.g. 10K
+        self.t0 = t0 + 273.15               # temperature at stated resistance, e.g. 25C
+        self.beta = beta                    # stated beta, e.g. 3500
+        self.vadc = 5.0                     # ADC reference
+        self.vcc = 5.0                      # supply voltage to potential divider
+        self.k = r0 * exp(-beta / self.t0)   # constant part of calculation
+
+        if r1 > 0:
+            self.vs = r1 * self.vcc / (r1 + r2) # effective bias voltage
+            self.rs = r1 * r2 / (r1 + r2)       # effective bias impedance
+        else:
+            self.vs = self.vcc                   # effective bias voltage
+            self.rs = r2                         # effective bias impedance
+
+    def temp(self,adc):
+        "Convert ADC reading into a temperature in Celcius"
+        v = adc * self.vadc / 1024          # convert the 10 bit ADC value to a voltage
+        r = self.rs * v / (self.vs - v)     # resistance of thermistor
+        return (self.beta / log(r / self.k)) - 273.15        # temperature
+
+    def setting(self, t):
+        "Convert a temperature into a ADC value"
+        r = self.r0 * exp(self.beta * (1 / (t + 273.15) - 1 / self.t0)) # resistance of the thermistor
+        v = self.vs * r / (self.rs + r)     # the voltage at the potential divider
+        return round(v / self.vadc * 1024)  # the ADC reading
+
+def main(argv):
+
+    r0 = 10000;
+    t0 = 25;
+    beta = 3947;
+    r1 = 680;
+    r2 = 1600;
+    num_temps = int(20);
+    
+    try:
+        opts, args = getopt.getopt(argv, "h", ["help", "r0=", "t0=", "beta=", "r1=", "r2="])
+    except getopt.GetoptError:
+        usage()
+        sys.exit(2)
+        
+    for opt, arg in opts:
+        if opt in ("-h", "--help"):
+            usage()
+            sys.exit()
+        elif opt == "--r0":
+            r0 = int(arg)
+        elif opt == "--t0":
+            t0 = int(arg)
+        elif opt == "--beta":
+            beta = int(arg)
+        elif opt == "--r1":
+            r1 = int(arg)
+        elif opt == "--r2":
+            r2 = int(arg)
+
+    if r1:
+        max_adc = int(1023 * r1 / (r1 + r2));
+    else:
+        max_adc = 1023
+    increment = int(max_adc/(num_temps-1));
+            
+    t = Thermistor(r0, t0, beta, r1, r2)
+
+    adcs = range(1, max_adc, increment);
+#   adcs = [1, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100, 110, 130, 150, 190, 220,  250, 300]
+    first = 1
+
+    print "// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)"
+    print "// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)"
+    print "// ./createTemperatureLookup.py --r0=%s --t0=%s --r1=%s --r2=%s --beta=%s --max-adc=%s" % (r0, t0, r1, r2, beta, max_adc)
+    print "// r0: %s" % (r0)
+    print "// t0: %s" % (t0)
+    print "// r1: %s" % (r1)
+    print "// r2: %s" % (r2)
+    print "// beta: %s" % (beta)
+    print "// max adc: %s" % (max_adc)
+    print "#define NUMTEMPS %s" % (len(adcs))
+    print "short temptable[NUMTEMPS][2] = {"
+
+    counter = 0
+    for adc in adcs:
+        counter = counter +1
+        if counter == len(adcs):
+            print "   {%s, %s}" % (adc, int(t.temp(adc)))
+        else:
+            print "   {%s, %s}," % (adc, int(t.temp(adc)))
+    print "};"
+    
+def usage():
+    print __doc__
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

Marlin/create_speed_lookuptable.py

@@ -1,8 +1,5 @@
 #!/usr/bin/env python
 
-from __future__ import print_function
-from __future__ import division
-
 """ Generate the stepper delay lookup table for Marlin firmware. """
 
 import argparse
@@ -19,35 +16,35 @@ args = parser.parse_args()
 cpu_freq = args.cpu_freq * 1000000
 timer_freq = cpu_freq / args.divider
 
-print("#ifndef SPEED_LOOKUPTABLE_H")
-print("#define SPEED_LOOKUPTABLE_H")
-print()
-print('#include "Marlin.h"')
-print()
+print "#ifndef SPEED_LOOKUPTABLE_H"
+print "#define SPEED_LOOKUPTABLE_H"
+print
+print '#include "Marlin.h"'
+print
 
-print("const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {")
+print "const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {"
 a = [ timer_freq / ((i*256)+(args.cpu_freq*2)) for i in range(256) ]
 b = [ a[i] - a[i+1] for i in range(255) ]
 b.append(b[-1])
 for i in range(32):
-    print("  ", end=' ')
+    print "  ",
     for j in range(8):
-        print("{%d, %d}," % (a[8*i+j], b[8*i+j]), end=' ')
-    print()
-print("};")
-print()
+        print "{%d, %d}," % (a[8*i+j], b[8*i+j]),
+    print 
+print "};"
+print
 
-print("const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {")
+print "const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {"
 a = [ timer_freq / ((i*8)+(args.cpu_freq*2)) for i in range(256) ]
 b = [ a[i] - a[i+1] for i in range(255) ]
 b.append(b[-1])
 for i in range(32):
-    print("  ", end=' ')
+    print "  ",
     for j in range(8):
-        print("{%d, %d}," % (a[8*i+j], b[8*i+j]), end=' ')
-    print()
-print("};")
-print()
+        print "{%d, %d}," % (a[8*i+j], b[8*i+j]),
+    print 
+print "};"
+print
 
-print("#endif")
+print "#endif"
 

Marlin/language.h

@@ -0,0 +1,299 @@
+#ifndef LANGUAGE_H
+#define LANGUAGE_H
+
+// Languages
+// 1  Custom (For you to add your own messages)
+// 2  English 
+// 3  French	(Waiting translation)
+// 4  German	(Waiting translation)
+// 5  Etc
+
+#define LANGUAGE_CHOICE 1  // Pick your language from the list above
+
+#if LANGUAGE_CHOICE == 1
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "Printer Ready."
+	#define MSG_SD_INSERTED "Card inserted"
+	#define MSG_SD_REMOVED "Card removed"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store memory"
+	#define MSG_LOAD_EPROM " Load memory"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_PREPARE_ALT " Prepare \003"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+	#define MSG_DWELL "Sleep..."
+	#define MSG_USERWAIT "Wait for user..."
+	#define MSG_NO_MOVE "No move."
+	#define MSG_PART_RELEASE "Partial Release"
+	#define MSG_KILLED "KILLED. "
+	#define MSG_STOPPED "STOPPED. "
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_STEPPER_RELEASED "Released."
+
+
+// Serial Console Messages
+
+	#define MSG_Enqueing "enqueing \""
+	#define MSG_POWERUP "PowerUp"
+	#define MSG_EXTERNAL_RESET " External Reset"
+	#define MSG_BROWNOUT_RESET " Brown out Reset"
+	#define MSG_WATCHDOG_RESET " Watchdog Reset"
+	#define MSG_SOFTWARE_RESET " Software Reset"
+	#define MSG_MARLIN "Marlin "
+	#define MSG_AUTHOR " | Author: "
+	#define MSG_CONFIGURATION_VER " Last Updated: "
+	#define MSG_FREE_MEMORY " Free Memory: "
+	#define MSG_PLANNER_BUFFER_BYTES "  PlannerBufferBytes: "
+	#define MSG_OK "ok"
+	#define MSG_FILE_SAVED "Done saving file."
+	#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:"
+	#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:"
+	#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:"
+	#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:"
+	#define MSG_FILE_PRINTED "Done printing file"
+	#define MSG_BEGIN_FILE_LIST "Begin file list"
+	#define MSG_END_FILE_LIST "End file list"
+	#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
+	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
+	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+	#define MSG_HEATING "Heating..."
+	#define MSG_HEATING_COMPLETE "Heating done."
+	#define MSG_BED_HEATING "Bed Heating."
+	#define MSG_BED_DONE "Bed done."
+	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
+	#define MSG_COUNT_X " Count X:"
+	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!. (Temperature is reset. Set it before restarting)"
+	#define MSG_RESEND "Resend:"
+	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
+	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
+	#define MSG_INVALID_EXTRUDER "Invalid extruder"
+	#define MSG_X_MIN "x_min:"
+	#define MSG_X_MAX "x_max:"
+	#define MSG_Y_MIN "y_min:"
+	#define MSG_Y_MAX "y_max:"
+	#define MSG_Z_MIN "z_min:"
+	#define MSG_Z_MAX "z_max:"
+
+	#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
+	#define MSG_SD_INIT_FAIL "SD init fail"
+	#define MSG_SD_VOL_INIT_FAIL "volume.init failed"
+	#define MSG_SD_OPENROOT_FAIL "openRoot failed"
+	#define MSG_SD_CARD_OK "SD card ok"
+	#define MSG_SD_WORKDIR_FAIL "workDir open failed"
+	#define MSG_SD_OPEN_FILE_FAIL "open failed, File: "
+	#define MSG_SD_FILE_OPENED "File opened:"
+	#define MSG_SD_SIZE " Size:"
+	#define MSG_SD_FILE_SELECTED "File selected"
+	#define MSG_SD_WRITE_TO_FILE "Writing to file: "
+	#define MSG_SD_PRINTING_BYTE "SD printing byte "
+	#define MSG_SD_NOT_PRINTING "Not SD printing"
+	#define MSG_SD_ERR_WRITE_TO_FILE "error writing to file"
+	#define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:"
+
+	#define MSG_STEPPER_TO_HIGH "Steprate to high : "
+	#define MSG_ENDSTOPS_HIT "endstops hit: "
+	#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
+	#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+
+#endif
+#if LANGUAGE_CHOICE == 4
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "MARLIN Ready."
+
+	#define MSG_SD_INSERTED "Card inserted"
+	#define MSG_SD_REMOVED "Card removed"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Stepper abschalten"
+	#define MSG_AUTO_HOME " Auto Heim"
+	#define MSG_SET_ORIGIN " Position setzen"
+	#define MSG_PREHEAT_PLA " Aufheizen PLA"
+	#define MSG_PREHEAT_ABS " Aufheizen ABS"
+	#define MSG_COOLDOWN " Abkuehlen"
+	#define MSG_EXTRUDE " Extrude"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_MOVE_AXIS " Move Axis      \x7E"
+        #define MSG_MOVE_AXIS " Achsen verfahren   \x7E"
+	#define MSG_SPEED " Geschw:"
+	#define MSG_NOZZLE " \002Duese:"
+	#define MSG_BED " \002Bett:"
+	#define MSG_FAN_SPEED " Luefter geschw.:"
+	#define MSG_FLOW " Fluss:"
+	#define MSG_CONTROL " Kontrolle \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Faktor:"
+	#define MSG_AUTOTEMP " AutoTemp:"
+	#define MSG_ON "Ein "
+	#define MSG_OFF "Aus "
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperatur \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " EPROM speichern"
+	#define MSG_LOAD_EPROM "  EPROM laden"
+	#define MSG_RESTORE_FAILSAFE " Standard Konfig."
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Beobachten   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_PREPARE_ALT " Prepare \003"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Druck stoppen   \x7E"
+	#define MSG_CARD_MENU " SDKarten Menue    \x7E"
+	#define MSG_NO_CARD " Keine SDKarte"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Fehler in der  Menuestruktur."
+	#define MSG_DWELL "DWELL..."		
+	#define MSG_NO_MOVE "No move."
+	#define MSG_PART_RELEASE "Partial Release"
+	#define MSG_KILLED "KILLED. "
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_STEPPER_RELEASED "Released."
+
+
+// Serial Console Messages
+
+	#define MSG_Enqueing "enqueing \""
+	#define MSG_POWERUP "PowerUp"
+	#define MSG_EXTERNAL_RESET " External Reset"
+	#define MSG_BROWNOUT_RESET " Brown out Reset"
+	#define MSG_WATCHDOG_RESET " Watchdog Reset"
+	#define MSG_SOFTWARE_RESET " Software Reset"
+	#define MSG_MARLIN "Marlin: "
+	#define MSG_AUTHOR " | Author: "
+	#define MSG_CONFIGURATION_VER " Last Updated: "
+	#define MSG_FREE_MEMORY " Free Memory: "
+	#define MSG_PLANNER_BUFFER_BYTES "  PlannerBufferBytes: "
+	#define MSG_OK "ok"
+	#define MSG_FILE_SAVED "Done saving file."
+	#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:"
+	#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:"
+	#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:"
+	#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:"
+	#define MSG_FILE_PRINTED "Done printing file"
+	#define MSG_BEGIN_FILE_LIST "Begin file list"
+	#define MSG_END_FILE_LIST "End file list"
+	#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
+	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
+	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+	#define MSG_HEATING "Heating..."
+	#define MSG_HEATING_COMPLETE "Heating done."
+	#define MSG_BED_HEATING "Bed Heating."
+	#define MSG_BED_DONE "Bed done."
+	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
+	#define MSG_COUNT_X " Count X:"
+	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!"
+	#define MSG_RESEND "Resend:"
+	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
+	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
+	#define MSG_INVALID_EXTRUDER "Invalid extruder"
+	#define MSG_X_MIN "x_min:"
+	#define MSG_X_MAX "x_max:"
+	#define MSG_Y_MIN "y_min:"
+	#define MSG_Y_MAX "y_max:"
+	#define MSG_Z_MIN "z_min:"
+	#define MSG_Z_MAX "z_max:"
+
+	#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
+	#define MSG_SD_INIT_FAIL "SD init fail"
+	#define MSG_SD_VOL_INIT_FAIL "volume.init failed"
+	#define MSG_SD_OPENROOT_FAIL "openRoot failed"
+	#define MSG_SD_CARD_OK "SD card ok"
+	#define MSG_SD_WORKDIR_FAIL "workDir open failed"
+	#define MSG_SD_OPEN_FILE_FAIL "open failed, File: "
+	#define MSG_SD_FILE_OPENED "File opened:"
+	#define MSG_SD_SIZE " Size:"
+	#define MSG_SD_FILE_SELECTED "File selected"
+	#define MSG_SD_WRITE_TO_FILE "Writing to file: "
+	#define MSG_SD_PRINTING_BYTE "SD printing byte "
+	#define MSG_SD_NOT_PRINTING "Not SD printing"
+	#define MSG_SD_ERR_WRITE_TO_FILE "error writing to file"
+	#define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:"
+
+	#define MSG_STEPPER_TO_HIGH "Steprate to high : "
+	#define MSG_ENDSTOPS_HIT "endstops hit: "
+	#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
+	#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+
+#endif
+#endif // ifndef LANGUAGE_H

Marlin/led.cpp

@@ -0,0 +1,35 @@
+#include "led.h"
+#if (LED_PIN > -1)
+#include "Marlin.h"
+#include "temperature.h"
+
+static unsigned long previous_millis_led=0;
+static unsigned long previous_millis_toggle=0;
+
+void led_init()
+{
+    SET_OUTPUT(LED_PIN);
+}
+
+void led_status()
+{
+  if (((millis() - previous_millis_led) < LED_UPDATE_INTERVAL))
+    return;
+  previous_millis_led=millis();
+  if (degTargetHotend(active_extruder) > HEATER_0_MINTEMP)
+  {
+    if (((millis() - previous_millis_toggle) < LED_HOTEND_ACTIVE_FLASH))
+        return;
+    previous_millis_toggle=millis();
+    TOGGLE(LED_PIN);
+  }
+  else
+  {
+    WRITE(LED_PIN, HIGH);
+  }
+}
+
+
+#endif //LED_PIN > -1
+
+

Marlin/led.h

@@ -0,0 +1,20 @@
+#ifndef __LEDH
+
+#define __LEDH
+#include "Marlin.h"
+
+#if (LED_PIN > -1) 
+  void led_status();
+  void led_init();
+
+  #define LED_UPDATE_INTERVAL 100
+  #define LED_HOTEND_ACTIVE_FLASH 800
+  #define LED_ERROR_FLASH 200
+  #define LED_STATUS led_status()
+
+#else //no led
+  #define LED_STATUS
+  FORCE_INLINE void led_status() {};
+#endif //LED_PIN > -1
+
+#endif

Marlin/lib/readme.txt

@@ -1,36 +0,0 @@
-
-This directory is intended for the project specific (private) libraries.
-PlatformIO will compile them to static libraries and link to executable file.
-
-The source code of each library should be placed in separate directory, like
-"lib/private_lib/[here are source files]".
-
-For example, see how can be organized `Foo` and `Bar` libraries:
-
-|--lib
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |- readme.txt --> THIS FILE
-|- platformio.ini
-|--src
-   |- main.c
-
-Then in `src/main.c` you should use:
-
-#include <Foo.h>
-#include <Bar.h>
-
-// rest H/C/CPP code
-
-PlatformIO will find your libraries automatically, configure preprocessor's
-include paths and build them.
-
-More information about PlatformIO Library Dependency Finder
-- http://docs.platformio.org/page/librarymanager/ldf.html

Marlin/motion_control.cpp

@@ -0,0 +1,147 @@
+/*
+  motion_control.c - high level interface for issuing motion commands
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+  Copyright (c) 2011 Sungeun K. Jeon
+  
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Marlin.h"
+#include "stepper.h"
+#include "planner.h"
+
+// The arc is approximated by generating a huge number of tiny, linear segments. The length of each 
+// segment is configured in settings.mm_per_arc_segment.  
+void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, 
+  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
+{      
+  //   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
+  //   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
+  float center_axis0 = position[axis_0] + offset[axis_0];
+  float center_axis1 = position[axis_1] + offset[axis_1];
+  float linear_travel = target[axis_linear] - position[axis_linear];
+  float extruder_travel = target[E_AXIS] - position[E_AXIS];
+  float r_axis0 = -offset[axis_0];  // Radius vector from center to current location
+  float r_axis1 = -offset[axis_1];
+  float rt_axis0 = target[axis_0] - center_axis0;
+  float rt_axis1 = target[axis_1] - center_axis1;
+  
+  // CCW angle between position and target from circle center. Only one atan2() trig computation required.
+  float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
+  if (angular_travel < 0) { angular_travel += 2*M_PI; }
+  if (isclockwise) { angular_travel -= 2*M_PI; }
+  
+  float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
+  if (millimeters_of_travel < 0.001) { return; }
+  uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
+  if(segments == 0) segments = 1;
+  
+  /*  
+    // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
+    // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
+    // all segments.
+    if (invert_feed_rate) { feed_rate *= segments; }
+  */
+  float theta_per_segment = angular_travel/segments;
+  float linear_per_segment = linear_travel/segments;
+  float extruder_per_segment = extruder_travel/segments;
+  
+  /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
+     and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
+         r_T = [cos(phi) -sin(phi);
+                sin(phi)  cos(phi] * r ;
+     
+     For arc generation, the center of the circle is the axis of rotation and the radius vector is 
+     defined from the circle center to the initial position. Each line segment is formed by successive
+     vector rotations. This requires only two cos() and sin() computations to form the rotation
+     matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
+     all double numbers are single precision on the Arduino. (True double precision will not have
+     round off issues for CNC applications.) Single precision error can accumulate to be greater than
+     tool precision in some cases. Therefore, arc path correction is implemented. 
+
+     Small angle approximation may be used to reduce computation overhead further. This approximation
+     holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
+     theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
+     to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for 
+     numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
+     issue for CNC machines with the single precision Arduino calculations.
+     
+     This approximation also allows mc_arc to immediately insert a line segment into the planner 
+     without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
+     a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. 
+     This is important when there are successive arc motions. 
+  */
+  // Vector rotation matrix values
+  float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
+  float sin_T = theta_per_segment;
+  
+  float arc_target[4];
+  float sin_Ti;
+  float cos_Ti;
+  float r_axisi;
+  uint16_t i;
+  int8_t count = 0;
+
+  // Initialize the linear axis
+  arc_target[axis_linear] = position[axis_linear];
+  
+  // Initialize the extruder axis
+  arc_target[E_AXIS] = position[E_AXIS];
+
+  for (i = 1; i<segments; i++) { // Increment (segments-1)
+    
+    if (count < N_ARC_CORRECTION) {
+      // Apply vector rotation matrix 
+      r_axisi = r_axis0*sin_T + r_axis1*cos_T;
+      r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
+      r_axis1 = r_axisi;
+      count++;
+    } else {
+      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+      cos_Ti = cos(i*theta_per_segment);
+      sin_Ti = sin(i*theta_per_segment);
+      r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
+      r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
+      count = 0;
+    }
+
+    // Update arc_target location
+    arc_target[axis_0] = center_axis0 + r_axis0;
+    arc_target[axis_1] = center_axis1 + r_axis1;
+    arc_target[axis_linear] += linear_per_segment;
+    arc_target[E_AXIS] += extruder_per_segment;
+
+    if (min_software_endstops) {
+      if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
+      if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
+      if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
+    }
+
+    if (max_software_endstops) {
+      if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
+      if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
+      if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
+    }
+    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
+    
+  }
+  // Ensure last segment arrives at target location.
+  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
+
+  //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
+}
+

Marlin/motion_control.h

@@ -0,0 +1,32 @@
+/*
+  motion_control.h - high level interface for issuing motion commands
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+  Copyright (c) 2011 Sungeun K. Jeon
+  
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef motion_control_h
+#define motion_control_h
+
+// Execute an arc in offset mode format. position == current xyz, target == target xyz, 
+// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
+// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
+// for vector transformation direction.
+void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
+  unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder);
+  
+#endif

Marlin/planner.cpp

@@ -0,0 +1,812 @@
+/*
+  planner.c - buffers movement commands and manages the acceleration profile plan
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
+
+/*  
+  Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
+  
+  s == speed, a == acceleration, t == time, d == distance
+
+  Basic definitions:
+
+    Speed[s_, a_, t_] := s + (a*t) 
+    Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
+
+  Distance to reach a specific speed with a constant acceleration:
+
+    Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
+      d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
+
+  Speed after a given distance of travel with constant acceleration:
+
+    Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
+      m -> Sqrt[2 a d + s^2]    
+
+    DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
+
+  When to start braking (di) to reach a specified destionation speed (s2) after accelerating
+  from initial speed s1 without ever stopping at a plateau:
+
+    Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
+      di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
+
+    IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
+*/
+                                                                                                            
+#include "Marlin.h"
+#include "planner.h"
+#include "stepper.h"
+#include "temperature.h"
+#include "ultralcd.h"
+#include "language.h"
+#include "led.h"
+
+//===========================================================================
+//=============================public variables ============================
+//===========================================================================
+
+unsigned long minsegmenttime;
+float max_feedrate[4]; // set the max speeds
+float axis_steps_per_unit[4];
+unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+float minimumfeedrate;
+float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
+float max_z_jerk;
+float max_e_jerk;
+float mintravelfeedrate;
+unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+
+// The current position of the tool in absolute steps
+long position[4];   //rescaled from extern when axis_steps_per_unit are changed by gcode
+static float previous_speed[4]; // Speed of previous path line segment
+static float previous_nominal_speed; // Nominal speed of previous path line segment
+
+extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
+
+#ifdef AUTOTEMP
+    float autotemp_max=250;
+    float autotemp_min=210;
+    float autotemp_factor=0.1;
+    bool autotemp_enabled=false;
+#endif
+
+//===========================================================================
+//=================semi-private variables, used in inline  functions    =====
+//===========================================================================
+block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+volatile unsigned char block_buffer_tail;           // Index of the block to process now
+
+//===========================================================================
+//=============================private variables ============================
+//===========================================================================
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+  bool allow_cold_extrude=false;
+#endif
+#ifdef XY_FREQUENCY_LIMIT
+  // Used for the frequency limit
+  static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+  static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
+  static long y_segment_time[3]={0,0,0};
+#endif
+
+// Returns the index of the next block in the ring buffer
+// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
+static int8_t next_block_index(int8_t block_index) {
+  block_index++;
+  if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
+  return(block_index);
+}
+
+
+// Returns the index of the previous block in the ring buffer
+static int8_t prev_block_index(int8_t block_index) {
+  if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
+  block_index--;
+  return(block_index);
+}
+
+//===========================================================================
+//=============================functions         ============================
+//===========================================================================
+
+// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
+// given acceleration:
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+{
+  if (acceleration!=0) {
+  return((target_rate*target_rate-initial_rate*initial_rate)/
+         (2.0*acceleration));
+  }
+  else {
+    return 0.0;  // acceleration was 0, set acceleration distance to 0
+  }
+}
+
+// This function gives you the point at which you must start braking (at the rate of -acceleration) if 
+// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
+// a total travel of distance. This can be used to compute the intersection point between acceleration and
+// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
+
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) 
+{
+ if (acceleration!=0) {
+  return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
+         (4.0*acceleration) );
+  }
+  else {
+    return 0.0;  // acceleration was 0, set intersection distance to 0
+  }
+}
+
+// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
+
+void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
+  unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
+  unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
+
+  // Limit minimal step rate (Otherwise the timer will overflow.)
+  if(initial_rate <120) {initial_rate=120; }
+  if(final_rate < 120) {final_rate=120;  }
+  
+  long acceleration = block->acceleration_st;
+  int32_t accelerate_steps =
+    ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
+  int32_t decelerate_steps =
+    floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
+    
+  // Calculate the size of Plateau of Nominal Rate.
+  int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
+  
+  // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
+  // have to use intersection_distance() to calculate when to abort acceleration and start braking
+  // in order to reach the final_rate exactly at the end of this block.
+  if (plateau_steps < 0) {
+    accelerate_steps = ceil(
+      intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
+    accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
+    accelerate_steps = min(accelerate_steps,block->step_event_count);
+    plateau_steps = 0;
+  }
+
+  #ifdef ADVANCE
+    volatile long initial_advance = block->advance*entry_factor*entry_factor; 
+    volatile long final_advance = block->advance*exit_factor*exit_factor;
+  #endif // ADVANCE
+  
+ // block->accelerate_until = accelerate_steps;
+ // block->decelerate_after = accelerate_steps+plateau_steps;
+  CRITICAL_SECTION_START;  // Fill variables used by the stepper in a critical section
+  if(block->busy == false) { // Don't update variables if block is busy.
+    block->accelerate_until = accelerate_steps;
+    block->decelerate_after = accelerate_steps+plateau_steps;
+    block->initial_rate = initial_rate;
+    block->final_rate = final_rate;
+  #ifdef ADVANCE
+      block->initial_advance = initial_advance;
+      block->final_advance = final_advance;
+  #endif //ADVANCE
+  }
+  CRITICAL_SECTION_END;
+}                    
+
+// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
+// acceleration within the allotted distance.
+FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
+  return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
+}
+
+// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
+// This method will calculate the junction jerk as the euclidean distance between the nominal 
+// velocities of the respective blocks.
+//inline float junction_jerk(block_t *before, block_t *after) {
+//  return sqrt(
+//    pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
+//}
+
+
+// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
+void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
+  if(!current) { return; }
+  
+    if (next) {
+    // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
+    // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
+    // check for maximum allowable speed reductions to ensure maximum possible planned speed.
+    if (current->entry_speed != current->max_entry_speed) {
+    
+      // If nominal length true, max junction speed is guaranteed to be reached. Only compute
+      // for max allowable speed if block is decelerating and nominal length is false.
+      if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
+        current->entry_speed = min( current->max_entry_speed,
+          max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
+      } else {
+        current->entry_speed = current->max_entry_speed;
+      }
+      current->recalculate_flag = true;
+    
+    }
+  } // Skip last block. Already initialized and set for recalculation.
+}
+
+// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
+// implements the reverse pass.
+void planner_reverse_pass() {
+  uint8_t block_index = block_buffer_head;
+  if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+    block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
+    block_t *block[3] = { NULL, NULL, NULL };
+    while(block_index != block_buffer_tail) { 
+      block_index = prev_block_index(block_index); 
+      block[2]= block[1];
+      block[1]= block[0];
+      block[0] = &block_buffer[block_index];
+      planner_reverse_pass_kernel(block[0], block[1], block[2]);
+    }
+  }
+}
+
+// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
+void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
+  if(!previous) { return; }
+  
+  // If the previous block is an acceleration block, but it is not long enough to complete the
+  // full speed change within the block, we need to adjust the entry speed accordingly. Entry
+  // speeds have already been reset, maximized, and reverse planned by reverse planner.
+  // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
+  if (!previous->nominal_length_flag) {
+    if (previous->entry_speed < current->entry_speed) {
+      double entry_speed = min( current->entry_speed,
+        max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
+
+      // Check for junction speed change
+      if (current->entry_speed != entry_speed) {
+        current->entry_speed = entry_speed;
+        current->recalculate_flag = true;
+      }
+    }
+  }
+}
+
+// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
+// implements the forward pass.
+void planner_forward_pass() {
+  uint8_t block_index = block_buffer_tail;
+  block_t *block[3] = { NULL, NULL, NULL };
+
+  while(block_index != block_buffer_head) {
+    block[0] = block[1];
+    block[1] = block[2];
+    block[2] = &block_buffer[block_index];
+    planner_forward_pass_kernel(block[0],block[1],block[2]);
+    block_index = next_block_index(block_index);
+  }
+  planner_forward_pass_kernel(block[1], block[2], NULL);
+}
+
+// Recalculates the trapezoid speed profiles for all blocks in the plan according to the 
+// entry_factor for each junction. Must be called by planner_recalculate() after 
+// updating the blocks.
+void planner_recalculate_trapezoids() {
+  int8_t block_index = block_buffer_tail;
+  block_t *current;
+  block_t *next = NULL;
+  
+  while(block_index != block_buffer_head) {
+    current = next;
+    next = &block_buffer[block_index];
+    if (current) {
+      // Recalculate if current block entry or exit junction speed has changed.
+      if (current->recalculate_flag || next->recalculate_flag) {
+        // NOTE: Entry and exit factors always > 0 by all previous logic operations.
+        calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
+          next->entry_speed/current->nominal_speed);
+        current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
+      }
+    }
+    block_index = next_block_index( block_index );
+  }
+  // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
+  if(next != NULL) {
+    calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
+      MINIMUM_PLANNER_SPEED/next->nominal_speed);
+    next->recalculate_flag = false;
+  }
+}
+
+// Recalculates the motion plan according to the following algorithm:
+//
+//   1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) 
+//      so that:
+//     a. The junction jerk is within the set limit
+//     b. No speed reduction within one block requires faster deceleration than the one, true constant 
+//        acceleration.
+//   2. Go over every block in chronological order and dial down junction speed reduction values if 
+//     a. The speed increase within one block would require faster accelleration than the one, true 
+//        constant acceleration.
+//
+// When these stages are complete all blocks have an entry_factor that will allow all speed changes to 
+// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than 
+// the set limit. Finally it will:
+//
+//   3. Recalculate trapezoids for all blocks.
+
+void planner_recalculate() {   
+  planner_reverse_pass();
+  planner_forward_pass();
+  planner_recalculate_trapezoids();
+}
+
+void plan_init() {
+  block_buffer_head = 0;
+  block_buffer_tail = 0;
+  memset(position, 0, sizeof(position)); // clear position
+  previous_speed[0] = 0.0;
+  previous_speed[1] = 0.0;
+  previous_speed[2] = 0.0;
+  previous_speed[3] = 0.0;
+  previous_nominal_speed = 0.0;
+}
+
+
+
+
+#ifdef AUTOTEMP
+void getHighESpeed()
+{
+  static float oldt=0;
+  if(!autotemp_enabled){
+    return;
+  }
+  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
+    return; //do nothing
+  }
+  
+  float high=0.0;
+  uint8_t block_index = block_buffer_tail;
+  
+  while(block_index != block_buffer_head) {
+    if((block_buffer[block_index].steps_x != 0) ||
+       (block_buffer[block_index].steps_y != 0) ||
+       (block_buffer[block_index].steps_z != 0)) {
+      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+      //se; mm/sec;
+      if(se>high)
+      {
+        high=se;
+      }
+    }
+    block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+  }
+   
+  float g=autotemp_min+high*autotemp_factor;
+  float t=g;
+  if(t<autotemp_min)
+    t=autotemp_min;
+  if(t>autotemp_max)
+    t=autotemp_max;
+  if(oldt>t)
+  {
+    t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
+  }
+  oldt=t;
+  setTargetHotend0(t);
+}
+#endif
+
+void check_axes_activity() {
+  unsigned char x_active = 0;
+  unsigned char y_active = 0;  
+  unsigned char z_active = 0;
+  unsigned char e_active = 0;
+  unsigned char fan_speed = 0;
+  unsigned char tail_fan_speed = 0;
+  block_t *block;
+
+  if(block_buffer_tail != block_buffer_head) {
+    uint8_t block_index = block_buffer_tail;
+    tail_fan_speed = block_buffer[block_index].fan_speed;
+    while(block_index != block_buffer_head) {
+      block = &block_buffer[block_index];
+      if(block->steps_x != 0) x_active++;
+      if(block->steps_y != 0) y_active++;
+      if(block->steps_z != 0) z_active++;
+      if(block->steps_e != 0) e_active++;
+      if(block->fan_speed != 0) fan_speed++;
+      block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+    }
+  }
+  else {
+    #if FAN_PIN > -1
+      if (FanSpeed != 0) analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
+    #endif
+  }
+  if((DISABLE_X) && (x_active == 0)) disable_x();
+  if((DISABLE_Y) && (y_active == 0)) disable_y();
+  if((DISABLE_Z) && (z_active == 0)) disable_z();
+  if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
+  #if FAN_PIN > -1
+    if((FanSpeed == 0) && (fan_speed ==0)) analogWrite(FAN_PIN, 0);
+  #endif
+  if (FanSpeed != 0 && tail_fan_speed !=0) { 
+    analogWrite(FAN_PIN,tail_fan_speed);
+  }
+}
+
+
+float junction_deviation = 0.1;
+// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
+// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
+// calculation the caller must also provide the physical length of the line in millimeters.
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
+{
+  // Calculate the buffer head after we push this byte
+  int next_buffer_head = next_block_index(block_buffer_head);
+
+  // If the buffer is full: good! That means we are well ahead of the robot. 
+  // Rest here until there is room in the buffer.
+  while(block_buffer_tail == next_buffer_head) { 
+    manage_heater(); 
+    manage_inactivity(1); 
+    LCD_STATUS;
+    LED_STATUS;
+  }
+  
+  // The target position of the tool in absolute steps
+  // Calculate target position in absolute steps
+  //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
+  long target[4];
+  target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
+  target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
+  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+  
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    if(target[E_AXIS]!=position[E_AXIS])
+    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+    }
+    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+    }
+  #endif
+  
+  // Prepare to set up new block
+  block_t *block = &block_buffer[block_buffer_head];
+  
+  // Mark block as not busy (Not executed by the stepper interrupt)
+  block->busy = false;
+
+  // Number of steps for each axis
+  block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
+  block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
+  block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps_e *= extrudemultiply;
+  block->steps_e /= 100;
+  block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
+
+  // Bail if this is a zero-length block
+  if (block->step_event_count <= dropsegments) { return; };
+
+  block->fan_speed = FanSpeed;
+  
+  // Compute direction bits for this block 
+  block->direction_bits = 0;
+  if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
+  if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
+  if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
+  if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
+  
+  block->active_extruder = extruder;
+  
+  //enable active axes
+  if(block->steps_x != 0) enable_x();
+  if(block->steps_y != 0) enable_y();
+  #ifndef Z_LATE_ENABLE
+    if(block->steps_z != 0) enable_z();
+  #endif
+
+  // Enable all
+  if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
+
+  if (block->steps_e == 0) {
+        if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
+  }
+  else {
+    	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
+  } 
+  
+  float delta_mm[4];
+  delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
+  delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
+  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
+  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
+//  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
+//    block->millimeters = abs(delta_mm[E_AXIS]);
+//  } else {
+//    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+//  }
+
+// TODO - JMG - SORT OUT RETRACTS WHEN e IS NOT ALONE
+  block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
+                            square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
+  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
+  
+  // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
+  float inverse_second = feed_rate * inverse_millimeters;
+  
+  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+ 
+  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+  #ifdef OLD_SLOWDOWN
+    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+  #endif
+
+  #ifdef SLOWDOWN
+  //  segment time im micro seconds
+  unsigned long segment_time = lround(1000000.0/inverse_second);
+  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
+    if (segment_time < minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
+        inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
+    }
+  }
+  #endif
+  //  END OF SLOW DOWN SECTION    
+
+  
+  block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
+  block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
+
+ // Calculate and limit speed in mm/sec for each axis
+  float current_speed[4];
+  float speed_factor = 1.0; //factor <=1 do decrease speed
+  for(int i=0; i < 4; i++) {
+    current_speed[i] = delta_mm[i] * inverse_second;
+    if(fabs(current_speed[i]) > max_feedrate[i])
+      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
+  }
+
+// Max segement time in us.
+#ifdef XY_FREQUENCY_LIMIT
+#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+
+  // Check and limit the xy direction change frequency
+  unsigned char direction_change = block->direction_bits ^ old_direction_bits;
+  old_direction_bits = block->direction_bits;
+
+  if((direction_change & (1<<X_AXIS)) == 0) {
+     x_segment_time[0] += segment_time;
+  }
+  else {
+    x_segment_time[2] = x_segment_time[1];
+    x_segment_time[1] = x_segment_time[0];
+    x_segment_time[0] = segment_time;
+  }
+  if((direction_change & (1<<Y_AXIS)) == 0) {
+     y_segment_time[0] += segment_time;
+  }
+  else {
+    y_segment_time[2] = y_segment_time[1];
+    y_segment_time[1] = y_segment_time[0];
+    y_segment_time[0] = segment_time;
+  }
+  long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
+  long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
+  long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
+  if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
+#endif
+
+  // Correct the speed  
+  if( speed_factor < 1.0) {
+    for(unsigned char i=0; i < 4; i++) {
+      current_speed[i] *= speed_factor;
+    }
+    block->nominal_speed *= speed_factor;
+    block->nominal_rate *= speed_factor;
+  }
+
+  // Compute and limit the acceleration rate for the trapezoid generator.  
+  float steps_per_mm = block->step_event_count/block->millimeters;
+  if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
+    block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+  }
+  else {
+    block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+    // Limit acceleration per axis
+    if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
+      block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
+    if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
+      block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
+    if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
+      block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
+    if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
+      block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
+  }
+  block->acceleration = block->acceleration_st / steps_per_mm;
+  block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
+  
+#if 0  // Use old jerk for now
+  // Compute path unit vector
+  double unit_vec[3];
+
+  unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
+  unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
+  unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
+  
+  // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
+  // Let a circle be tangent to both previous and current path line segments, where the junction
+  // deviation is defined as the distance from the junction to the closest edge of the circle,
+  // colinear with the circle center. The circular segment joining the two paths represents the
+  // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
+  // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
+  // path width or max_jerk in the previous grbl version. This approach does not actually deviate
+  // from path, but used as a robust way to compute cornering speeds, as it takes into account the
+  // nonlinearities of both the junction angle and junction velocity.
+  double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
+
+  // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
+  if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+    // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
+    // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
+    double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
+                       - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+                       - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+                           
+    // Skip and use default max junction speed for 0 degree acute junction.
+    if (cos_theta < 0.95) {
+      vmax_junction = min(previous_nominal_speed,block->nominal_speed);
+      // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
+      if (cos_theta > -0.95) {
+        // Compute maximum junction velocity based on maximum acceleration and junction deviation
+        double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
+        vmax_junction = min(vmax_junction,
+          sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+      }
+    }
+  }
+#endif
+  // Start with a safe speed
+  float vmax_junction = max_xy_jerk/2;  
+  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
+    vmax_junction = max_z_jerk/2;
+  vmax_junction = min(vmax_junction, block->nominal_speed);
+  if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
+    vmax_junction = min(vmax_junction, max_e_jerk/2);
+    
+  if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
+    float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
+    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
+      vmax_junction = block->nominal_speed;
+    }
+    if (jerk > max_xy_jerk) {
+      vmax_junction *= (max_xy_jerk/jerk);
+    } 
+    if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
+      vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+    } 
+    if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+      vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+    } 
+  }
+  block->max_entry_speed = vmax_junction;
+    
+  // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
+  double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
+  block->entry_speed = min(vmax_junction, v_allowable);
+
+  // Initialize planner efficiency flags
+  // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
+  // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
+  // the current block and next block junction speeds are guaranteed to always be at their maximum
+  // junction speeds in deceleration and acceleration, respectively. This is due to how the current
+  // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
+  // the reverse and forward planners, the corresponding block junction speed will always be at the
+  // the maximum junction speed and may always be ignored for any speed reduction checks.
+  if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
+  else { block->nominal_length_flag = false; }
+  block->recalculate_flag = true; // Always calculate trapezoid for new block
+  
+  // Update previous path unit_vector and nominal speed
+  memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
+  previous_nominal_speed = block->nominal_speed;
+
+  
+  #ifdef ADVANCE
+    // Calculate advance rate
+    if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
+      block->advance_rate = 0;
+      block->advance = 0;
+    }
+    else {
+      long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+      float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
+        (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
+      block->advance = advance;
+      if(acc_dist == 0) {
+        block->advance_rate = 0;
+      } 
+      else {
+        block->advance_rate = advance / (float)acc_dist;
+      }
+    }
+    /*
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM("advance :");
+    SERIAL_ECHO(block->advance/256.0);
+    SERIAL_ECHOPGM("advance rate :");
+    SERIAL_ECHOLN(block->advance_rate/256.0);
+    */
+  #endif // ADVANCE
+
+  calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
+    MINIMUM_PLANNER_SPEED/block->nominal_speed);
+    
+  // Move buffer head
+  block_buffer_head = next_buffer_head;
+  
+  // Update position
+  memcpy(position, target, sizeof(target)); // position[] = target[]
+
+  planner_recalculate();
+
+  st_wake_up();
+}
+
+void plan_set_position(const float &x, const float &y, const float &z, const float &e)
+{
+  position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
+  position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
+  position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+  position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
+  st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
+  previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
+  previous_speed[0] = 0.0;
+  previous_speed[1] = 0.0;
+  previous_speed[2] = 0.0;
+  previous_speed[3] = 0.0;
+}
+
+void plan_set_e_position(const float &e)
+{
+  position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
+  st_set_e_position(position[E_AXIS]);
+}
+
+uint8_t movesplanned()
+{
+ return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+}
+
+void allow_cold_extrudes(bool allow)
+{
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    allow_cold_extrude=allow;
+  #endif
+}

Marlin/planner.h

@@ -0,0 +1,139 @@
+/*
+  planner.h - buffers movement commands and manages the acceleration profile plan
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// This module is to be considered a sub-module of stepper.c. Please don't include 
+// this file from any other module.
+
+#ifndef planner_h
+#define planner_h
+
+#include "Marlin.h"
+
+// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
+// the source g-code and may never actually be reached if acceleration management is active.
+typedef struct {
+  // Fields used by the bresenham algorithm for tracing the line
+  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
+  unsigned long step_event_count;           // The number of step events required to complete this block
+  long accelerate_until;                    // The index of the step event on which to stop acceleration
+  long decelerate_after;                    // The index of the step event on which to start decelerating
+  long acceleration_rate;                   // The acceleration rate used for acceleration calculation
+  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+  unsigned char active_extruder;            // Selects the active extruder
+  #ifdef ADVANCE
+    long advance_rate;
+    volatile long initial_advance;
+    volatile long final_advance;
+    float advance;
+  #endif
+
+  // Fields used by the motion planner to manage acceleration
+//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/sec for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/sec 
+  float entry_speed;                                 // Entry speed at previous-current junction in mm/sec
+  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec
+  float millimeters;                                 // The total travel of this block in mm
+  float acceleration;                                // acceleration mm/sec^2
+  unsigned char recalculate_flag;                    // Planner flag to recalculate trapezoids on entry junction
+  unsigned char nominal_length_flag;                 // Planner flag for nominal speed always reached
+
+  // Settings for the trapezoid generator
+  unsigned long nominal_rate;                        // The nominal step rate for this block in step_events/sec 
+  unsigned long initial_rate;                        // The jerk-adjusted step rate at start of block  
+  unsigned long final_rate;                          // The minimal rate at exit
+  unsigned long acceleration_st;                     // acceleration steps/sec^2
+  unsigned long fan_speed;
+  volatile char busy;
+} block_t;
+
+// Initialize the motion plan subsystem      
+void plan_init();
+
+// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
+// millimaters. Feed rate specifies the speed of the motion.
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
+
+// Set position. Used for G92 instructions.
+void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+void plan_set_e_position(const float &e);
+
+
+
+void check_axes_activity();
+uint8_t movesplanned(); //return the nr of buffered moves
+
+extern unsigned long minsegmenttime;
+extern float max_feedrate[4]; // set the max speeds
+extern float axis_steps_per_unit[4];
+extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+extern float minimumfeedrate;
+extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
+extern float max_z_jerk;
+extern float max_e_jerk;
+extern float mintravelfeedrate;
+extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+
+#ifdef AUTOTEMP
+    extern bool autotemp_enabled;
+    extern float autotemp_max;
+    extern float autotemp_min;
+    extern float autotemp_factor;
+#endif
+
+    
+
+
+extern block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+extern volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+extern volatile unsigned char block_buffer_tail; 
+// Called when the current block is no longer needed. Discards the block and makes the memory
+// availible for new blocks.    
+FORCE_INLINE void plan_discard_current_block()  
+{
+  if (block_buffer_head != block_buffer_tail) {
+    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
+  }
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE block_t *plan_get_current_block() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return(NULL); 
+  }
+  block_t *block = &block_buffer[block_buffer_tail];
+  block->busy = true;
+  return(block);
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE bool blocks_queued() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return false; 
+  }
+  else
+    return true;
+}
+
+void allow_cold_extrudes(bool allow);
+#endif

Marlin/speed_lookuptable.h

@@ -0,0 +1,152 @@
+#ifndef SPEED_LOOKUPTABLE_H
+#define SPEED_LOOKUPTABLE_H
+
+#include "Marlin.h"
+
+#if F_CPU == 16000000
+
+const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\
+{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, 
+{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, 
+{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, 
+{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, 
+{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, 
+{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, 
+{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, 
+{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, 
+{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, 
+{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, 
+{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, 
+{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, 
+{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, 
+{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, 
+{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, 
+{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, 
+{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, 
+{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, 
+{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, 
+{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, 
+{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, 
+{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, 
+{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, 
+{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, 
+{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, 
+{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, 
+{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, 
+{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, 
+{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, 
+{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, 
+{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, 
+{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0}
+};
+
+const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
+{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, 
+{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, 
+{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, 
+{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, 
+{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, 
+{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, 
+{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, 
+{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, 
+{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, 
+{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, 
+{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, 
+{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, 
+{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, 
+{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, 
+{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, 
+{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, 
+{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, 
+{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, 
+{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, 
+{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, 
+{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, 
+{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, 
+{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, 
+{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, 
+{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, 
+{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, 
+{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, 
+{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, 
+{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, 
+{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, 
+{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, 
+{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3}
+};
+
+#else
+
+const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
+   {62500, 54055}, {8445, 3917}, {4528, 1434}, {3094, 745}, {2349, 456}, {1893, 307}, {1586, 222}, {1364, 167},
+   {1197, 131}, {1066, 105}, {961, 86}, {875, 72}, {803, 61}, {742, 53}, {689, 45}, {644, 40},
+   {604, 35}, {569, 32}, {537, 28}, {509, 25}, {484, 23}, {461, 21}, {440, 19}, {421, 17},
+   {404, 16}, {388, 15}, {373, 14}, {359, 13}, {346, 12}, {334, 11}, {323, 10}, {313, 10},
+   {303, 9}, {294, 9}, {285, 8}, {277, 7}, {270, 8}, {262, 7}, {255, 6}, {249, 6},
+   {243, 6}, {237, 6}, {231, 5}, {226, 5}, {221, 5}, {216, 5}, {211, 4}, {207, 5},
+   {202, 4}, {198, 4}, {194, 4}, {190, 3}, {187, 4}, {183, 3}, {180, 3}, {177, 4},
+   {173, 3}, {170, 3}, {167, 2}, {165, 3}, {162, 3}, {159, 2}, {157, 3}, {154, 2},
+   {152, 3}, {149, 2}, {147, 2}, {145, 2}, {143, 2}, {141, 2}, {139, 2}, {137, 2},
+   {135, 2}, {133, 2}, {131, 2}, {129, 1}, {128, 2}, {126, 2}, {124, 1}, {123, 2},
+   {121, 1}, {120, 2}, {118, 1}, {117, 1}, {116, 2}, {114, 1}, {113, 1}, {112, 2},
+   {110, 1}, {109, 1}, {108, 1}, {107, 2}, {105, 1}, {104, 1}, {103, 1}, {102, 1},
+   {101, 1}, {100, 1}, {99, 1}, {98, 1}, {97, 1}, {96, 1}, {95, 1}, {94, 1},
+   {93, 1}, {92, 1}, {91, 0}, {91, 1}, {90, 1}, {89, 1}, {88, 1}, {87, 0},
+   {87, 1}, {86, 1}, {85, 1}, {84, 0}, {84, 1}, {83, 1}, {82, 1}, {81, 0},
+   {81, 1}, {80, 1}, {79, 0}, {79, 1}, {78, 0}, {78, 1}, {77, 1}, {76, 0},
+   {76, 1}, {75, 0}, {75, 1}, {74, 1}, {73, 0}, {73, 1}, {72, 0}, {72, 1},
+   {71, 0}, {71, 1}, {70, 0}, {70, 1}, {69, 0}, {69, 1}, {68, 0}, {68, 1},
+   {67, 0}, {67, 1}, {66, 0}, {66, 1}, {65, 0}, {65, 0}, {65, 1}, {64, 0},
+   {64, 1}, {63, 0}, {63, 1}, {62, 0}, {62, 0}, {62, 1}, {61, 0}, {61, 1},
+   {60, 0}, {60, 0}, {60, 1}, {59, 0}, {59, 0}, {59, 1}, {58, 0}, {58, 0},
+   {58, 1}, {57, 0}, {57, 0}, {57, 1}, {56, 0}, {56, 0}, {56, 1}, {55, 0},
+   {55, 0}, {55, 1}, {54, 0}, {54, 0}, {54, 1}, {53, 0}, {53, 0}, {53, 0},
+   {53, 1}, {52, 0}, {52, 0}, {52, 1}, {51, 0}, {51, 0}, {51, 0}, {51, 1},
+   {50, 0}, {50, 0}, {50, 0}, {50, 1}, {49, 0}, {49, 0}, {49, 0}, {49, 1},
+   {48, 0}, {48, 0}, {48, 0}, {48, 1}, {47, 0}, {47, 0}, {47, 0}, {47, 1},
+   {46, 0}, {46, 0}, {46, 0}, {46, 0}, {46, 1}, {45, 0}, {45, 0}, {45, 0},
+   {45, 1}, {44, 0}, {44, 0}, {44, 0}, {44, 0}, {44, 1}, {43, 0}, {43, 0},
+   {43, 0}, {43, 0}, {43, 1}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, {42, 0},
+   {42, 1}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 1}, {40, 0},
+   {40, 0}, {40, 0}, {40, 0}, {40, 1}, {39, 0}, {39, 0}, {39, 0}, {39, 0},
+   {39, 0}, {39, 0}, {39, 1}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, {38, 0},
+};
+
+const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
+   {62500, 10417}, {52083, 7441}, {44642, 5580}, {39062, 4340}, {34722, 3472}, {31250, 2841}, {28409, 2368}, {26041, 2003},
+   {24038, 1717}, {22321, 1488}, {20833, 1302}, {19531, 1149}, {18382, 1021}, {17361, 914}, {16447, 822}, {15625, 745},
+   {14880, 676}, {14204, 618}, {13586, 566}, {13020, 520}, {12500, 481}, {12019, 445}, {11574, 414}, {11160, 385},
+   {10775, 359}, {10416, 336}, {10080, 315}, {9765, 296}, {9469, 278}, {9191, 263}, {8928, 248}, {8680, 235},
+   {8445, 222}, {8223, 211}, {8012, 200}, {7812, 191}, {7621, 181}, {7440, 173}, {7267, 165}, {7102, 158},
+   {6944, 151}, {6793, 145}, {6648, 138}, {6510, 133}, {6377, 127}, {6250, 123}, {6127, 118}, {6009, 113},
+   {5896, 109}, {5787, 106}, {5681, 101}, {5580, 98}, {5482, 95}, {5387, 91}, {5296, 88}, {5208, 86},
+   {5122, 82}, {5040, 80}, {4960, 78}, {4882, 75}, {4807, 73}, {4734, 70}, {4664, 69}, {4595, 67},
+   {4528, 64}, {4464, 63}, {4401, 61}, {4340, 60}, {4280, 58}, {4222, 56}, {4166, 55}, {4111, 53},
+   {4058, 52}, {4006, 51}, {3955, 49}, {3906, 48}, {3858, 48}, {3810, 45}, {3765, 45}, {3720, 44},
+   {3676, 43}, {3633, 42}, {3591, 40}, {3551, 40}, {3511, 39}, {3472, 38}, {3434, 38}, {3396, 36},
+   {3360, 36}, {3324, 35}, {3289, 34}, {3255, 34}, {3221, 33}, {3188, 32}, {3156, 31}, {3125, 31},
+   {3094, 31}, {3063, 30}, {3033, 29}, {3004, 28}, {2976, 28}, {2948, 28}, {2920, 27}, {2893, 27},
+   {2866, 26}, {2840, 25}, {2815, 25}, {2790, 25}, {2765, 24}, {2741, 24}, {2717, 24}, {2693, 23},
+   {2670, 22}, {2648, 22}, {2626, 22}, {2604, 22}, {2582, 21}, {2561, 21}, {2540, 20}, {2520, 20},
+   {2500, 20}, {2480, 20}, {2460, 19}, {2441, 19}, {2422, 19}, {2403, 18}, {2385, 18}, {2367, 18},
+   {2349, 17}, {2332, 18}, {2314, 17}, {2297, 16}, {2281, 17}, {2264, 16}, {2248, 16}, {2232, 16},
+   {2216, 16}, {2200, 15}, {2185, 15}, {2170, 15}, {2155, 15}, {2140, 15}, {2125, 14}, {2111, 14},
+   {2097, 14}, {2083, 14}, {2069, 14}, {2055, 13}, {2042, 13}, {2029, 13}, {2016, 13}, {2003, 13},
+   {1990, 13}, {1977, 12}, {1965, 12}, {1953, 13}, {1940, 11}, {1929, 12}, {1917, 12}, {1905, 12},
+   {1893, 11}, {1882, 11}, {1871, 11}, {1860, 11}, {1849, 11}, {1838, 11}, {1827, 11}, {1816, 10},
+   {1806, 11}, {1795, 10}, {1785, 10}, {1775, 10}, {1765, 10}, {1755, 10}, {1745, 9}, {1736, 10},
+   {1726, 9}, {1717, 10}, {1707, 9}, {1698, 9}, {1689, 9}, {1680, 9}, {1671, 9}, {1662, 9},
+   {1653, 9}, {1644, 8}, {1636, 9}, {1627, 8}, {1619, 9}, {1610, 8}, {1602, 8}, {1594, 8},
+   {1586, 8}, {1578, 8}, {1570, 8}, {1562, 8}, {1554, 7}, {1547, 8}, {1539, 8}, {1531, 7},
+   {1524, 8}, {1516, 7}, {1509, 7}, {1502, 7}, {1495, 7}, {1488, 7}, {1481, 7}, {1474, 7},
+   {1467, 7}, {1460, 7}, {1453, 7}, {1446, 6}, {1440, 7}, {1433, 7}, {1426, 6}, {1420, 6},
+   {1414, 7}, {1407, 6}, {1401, 6}, {1395, 7}, {1388, 6}, {1382, 6}, {1376, 6}, {1370, 6},
+   {1364, 6}, {1358, 6}, {1352, 6}, {1346, 5}, {1341, 6}, {1335, 6}, {1329, 5}, {1324, 6},
+   {1318, 5}, {1313, 6}, {1307, 5}, {1302, 6}, {1296, 5}, {1291, 5}, {1286, 6}, {1280, 5},
+   {1275, 5}, {1270, 5}, {1265, 5}, {1260, 5}, {1255, 5}, {1250, 5}, {1245, 5}, {1240, 5},
+   {1235, 5}, {1230, 5}, {1225, 5}, {1220, 5}, {1215, 4}, {1211, 5}, {1206, 5}, {1201, 5},
+};
+
+#endif
+
+#endif

Marlin/src/HAL/HAL.h

@@ -1,34 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-#include "platforms.h"
-
-#include HAL_PATH(.,HAL.h)
-
-#define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
-
-inline void watchdog_refresh() {
-  #if ENABLED(USE_WATCHDOG)
-    HAL_watchdog_refresh();
-  #endif
-}

Marlin/src/HAL/HAL_AVR/HAL.cpp

@@ -1,79 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifdef __AVR__
-
-#include "../../inc/MarlinConfig.h"
-#include "HAL.h"
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-//uint8_t MCUSR;
-
-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init() {
-  // Init Servo Pins
-  #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
-  #if HAS_SERVO_0
-    INIT_SERVO(0);
-  #endif
-  #if HAS_SERVO_1
-    INIT_SERVO(1);
-  #endif
-  #if HAS_SERVO_2
-    INIT_SERVO(2);
-  #endif
-  #if HAS_SERVO_3
-    INIT_SERVO(3);
-  #endif
-}
-
-#if ENABLED(SDSUPPORT)
-
-  #include "../../sd/SdFatUtil.h"
-  int freeMemory() { return SdFatUtil::FreeRam(); }
-
-#else // !SDSUPPORT
-
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
-
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
-  }
-}
-
-#endif // !SDSUPPORT
-
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/HAL.h

@@ -1,402 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-#include "../shared/Marduino.h"
-#include "../shared/HAL_SPI.h"
-#include "fastio.h"
-#include "watchdog.h"
-#include "math.h"
-
-#ifdef USBCON
-  #include <HardwareSerial.h>
-#else
-  #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion
-  #include "MarlinSerial.h"
-#endif
-
-#include <stdint.h>
-#include <util/delay.h>
-#include <avr/eeprom.h>
-#include <avr/pgmspace.h>
-#include <avr/interrupt.h>
-#include <avr/io.h>
-
-#ifndef pgm_read_ptr
-  // Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for
-  // Windows Subsystem for Linux on Windows 10 as of 10/18/2019
-  #define pgm_read_ptr_far(address_long) (void*)__ELPM_word((uint32_t)(address_long))
-  #define pgm_read_ptr_near(address_short) (void*)__LPM_word((uint16_t)(address_short))
-  #define pgm_read_ptr(address_short) pgm_read_ptr_near(address_short)
-#endif
-
-// ------------------------
-// Defines
-// ------------------------
-
-//#define analogInputToDigitalPin(IO) IO
-
-#ifndef CRITICAL_SECTION_START
-  #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli()
-  #define CRITICAL_SECTION_END    SREG = _sreg
-#endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
-
-// On AVR this is in math.h?
-//#define square(x) ((x)*(x))
-
-// ------------------------
-// Types
-// ------------------------
-
-typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
-
-typedef int8_t pin_t;
-
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-//extern uint8_t MCUSR;
-
-// Serial ports
-#ifdef USBCON
-  #if ENABLED(BLUETOOTH)
-    #define MYSERIAL0 bluetoothSerial
-  #else
-    #define MYSERIAL0 Serial
-  #endif
-  #define NUM_SERIAL 1
-#else
-  #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from -1 to 3"
-  #endif
-
-  #define MYSERIAL0 customizedSerial1
-
-  #ifdef SERIAL_PORT_2
-    #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from -1 to 3"
-    #elif SERIAL_PORT_2 == SERIAL_PORT
-      #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-    #endif
-    #define NUM_SERIAL 2
-    #define MYSERIAL1 customizedSerial2
-  #else
-    #define NUM_SERIAL 1
-  #endif
-#endif
-
-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init();
-
-//void cli();
-
-//void _delay_ms(const int delay);
-
-inline void HAL_clear_reset_source() { MCUSR = 0; }
-inline uint8_t HAL_get_reset_source() { return MCUSR; }
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-extern "C" {
-  int freeMemory();
-}
-#pragma GCC diagnostic pop
-
-// timers
-#define HAL_TIMER_RATE          ((F_CPU) / 8)    // i.e., 2MHz or 2.5MHz
-
-#define STEP_TIMER_NUM          1
-#define TEMP_TIMER_NUM          0
-#define PULSE_TIMER_NUM         STEP_TIMER_NUM
-
-#define TEMP_TIMER_FREQUENCY    ((F_CPU) / 64.0 / 256.0)
-
-#define STEPPER_TIMER_RATE      HAL_TIMER_RATE
-#define STEPPER_TIMER_PRESCALE  8
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
-
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
-
-#define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
-#define STEPPER_ISR_ENABLED()             TEST(TIMSK1, OCIE1A)
-
-#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0B)
-#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0B)
-#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0B)
-
-FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
-  switch (timer_num) {
-    case STEP_TIMER_NUM:
-      // waveform generation = 0100 = CTC
-      SET_WGM(1, CTC_OCRnA);
-
-      // output mode = 00 (disconnected)
-      SET_COMA(1, NORMAL);
-
-      // Set the timer pre-scaler
-      // Generally we use a divider of 8, resulting in a 2MHz timer
-      // frequency on a 16MHz MCU. If you are going to change this, be
-      // sure to regenerate speed_lookuptable.h with
-      // create_speed_lookuptable.py
-      SET_CS(1, PRESCALER_8);  //  CS 2 = 1/8 prescaler
-
-      // Init Stepper ISR to 122 Hz for quick starting
-      // (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
-      OCR1A = 0x4000;
-      TCNT1 = 0;
-      break;
-
-    case TEMP_TIMER_NUM:
-      // Use timer0 for temperature measurement
-      // Interleave temperature interrupt with millies interrupt
-      OCR0B = 128;
-      break;
-  }
-}
-
-#define TIMER_OCR_1             OCR1A
-#define TIMER_COUNTER_1         TCNT1
-
-#define TIMER_OCR_0             OCR0A
-#define TIMER_COUNTER_0         TCNT0
-
-#define _CAT(a,V...) a##V
-#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
-#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
-#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
-
-/**
- * On AVR there is no hardware prioritization and preemption of
- * interrupts, so this emulates it. The UART has first priority
- * (otherwise, characters will be lost due to UART overflow).
- * Then: Stepper, Endstops, Temperature, and -finally- all others.
- */
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
-
-/* 18 cycles maximum latency */
-#define HAL_STEP_TIMER_ISR() \
-extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER1_COMPA_vect() { \
-  __asm__ __volatile__ ( \
-    A("push r16")                      /* 2 Save R16 */ \
-    A("in r16, __SREG__")              /* 1 Get SREG */ \
-    A("push r16")                      /* 2 Save SREG into stack */ \
-    A("lds r16, %[timsk0]")            /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
-    A("push r16")                      /* 2 Save TIMSK0 into the stack */ \
-    A("andi r16,~%[msk0]")             /* 1 Disable the temperature ISR */ \
-    A("sts %[timsk0], r16")            /* 2 And set the new value */ \
-    A("lds r16, %[timsk1]")            /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \
-    A("andi r16,~%[msk1]")             /* 1 Disable the stepper ISR */ \
-    A("sts %[timsk1], r16")            /* 2 And set the new value */ \
-    A("push r16")                      /* 2 Save TIMSK1 into stack */ \
-    A("in r16, 0x3B")                  /* 1 Get RAMPZ register */ \
-    A("push r16")                      /* 2 Save RAMPZ into stack */ \
-    A("in r16, 0x3C")                  /* 1 Get EIND register */ \
-    A("push r0")                       /* C runtime can modify all the following registers without restoring them */ \
-    A("push r1")                       \
-    A("push r18")                      \
-    A("push r19")                      \
-    A("push r20")                      \
-    A("push r21")                      \
-    A("push r22")                      \
-    A("push r23")                      \
-    A("push r24")                      \
-    A("push r25")                      \
-    A("push r26")                      \
-    A("push r27")                      \
-    A("push r30")                      \
-    A("push r31")                      \
-    A("clr r1")                        /* C runtime expects this register to be 0 */ \
-    A("call TIMER1_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
-    A("pop r31")                       \
-    A("pop r30")                       \
-    A("pop r27")                       \
-    A("pop r26")                       \
-    A("pop r25")                       \
-    A("pop r24")                       \
-    A("pop r23")                       \
-    A("pop r22")                       \
-    A("pop r21")                       \
-    A("pop r20")                       \
-    A("pop r19")                       \
-    A("pop r18")                       \
-    A("pop r1")                        \
-    A("pop r0")                        \
-    A("out 0x3C, r16")                 /* 1 Restore EIND register */ \
-    A("pop r16")                       /* 2 Get the original RAMPZ register value */ \
-    A("out 0x3B, r16")                 /* 1 Restore RAMPZ register to its original value */ \
-    A("pop r16")                       /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \
-    A("ori r16,%[msk1]")               /* 1 Reenable the stepper ISR */ \
-    A("cli")                           /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \
-    A("sts %[timsk1], r16")            /* 2 And restore the old value - This reenables the stepper ISR */ \
-    A("pop r16")                       /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \
-    A("sts %[timsk0], r16")            /* 2 And restore the old value - This reenables the temperature ISR */ \
-    A("pop r16")                       /* 2 Get the old SREG value */ \
-    A("out __SREG__, r16")             /* 1 And restore the SREG value */ \
-    A("pop r16")                       /* 2 Restore R16 value */ \
-    A("reti")                          /* 4 Return from interrupt */ \
-    :                                   \
-    : [timsk0] "i" ((uint16_t)&TIMSK0), \
-      [timsk1] "i" ((uint16_t)&TIMSK1), \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
-      [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
-    : \
-  ); \
-} \
-void TIMER1_COMPA_vect_bottom()
-
-/* 14 cycles maximum latency */
-#define HAL_TEMP_TIMER_ISR() \
-extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER0_COMPB_vect_bottom()  asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER0_COMPB_vect() { \
-  __asm__ __volatile__ ( \
-    A("push r16")                       /* 2 Save R16 */ \
-    A("in r16, __SREG__")               /* 1 Get SREG */ \
-    A("push r16")                       /* 2 Save SREG into stack */ \
-    A("lds r16, %[timsk0]")             /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
-    A("andi r16,~%[msk0]")              /* 1 Disable the temperature ISR */ \
-    A("sts %[timsk0], r16")             /* 2 And set the new value */ \
-    A("sei")                            /* 1 Enable global interrupts - It is safe, as the temperature ISR is disabled, so we cannot reenter it */    \
-    A("push r16")                       /* 2 Save TIMSK0 into stack */ \
-    A("in r16, 0x3B")                   /* 1 Get RAMPZ register */ \
-    A("push r16")                       /* 2 Save RAMPZ into stack */ \
-    A("in r16, 0x3C")                   /* 1 Get EIND register */ \
-    A("push r0")                        /* C runtime can modify all the following registers without restoring them */ \
-    A("push r1")                        \
-    A("push r18")                       \
-    A("push r19")                       \
-    A("push r20")                       \
-    A("push r21")                       \
-    A("push r22")                       \
-    A("push r23")                       \
-    A("push r24")                       \
-    A("push r25")                       \
-    A("push r26")                       \
-    A("push r27")                       \
-    A("push r30")                       \
-    A("push r31")                       \
-    A("clr r1")                         /* C runtime expects this register to be 0 */ \
-    A("call TIMER0_COMPB_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
-    A("pop r31")                        \
-    A("pop r30")                        \
-    A("pop r27")                        \
-    A("pop r26")                        \
-    A("pop r25")                        \
-    A("pop r24")                        \
-    A("pop r23")                        \
-    A("pop r22")                        \
-    A("pop r21")                        \
-    A("pop r20")                        \
-    A("pop r19")                        \
-    A("pop r18")                        \
-    A("pop r1")                         \
-    A("pop r0")                         \
-    A("out 0x3C, r16")                  /* 1 Restore EIND register */ \
-    A("pop r16")                        /* 2 Get the original RAMPZ register value */ \
-    A("out 0x3B, r16")                  /* 1 Restore RAMPZ register to its original value */ \
-    A("pop r16")                        /* 2 Get the original TIMSK0 value but with temperature ISR disabled */ \
-    A("ori r16,%[msk0]")                /* 1 Enable temperature ISR */ \
-    A("cli")                            /* 1 Disable global interrupts - We must do this, as we will reenable the temperature ISR, and we don't want to reenter this handler until the current one is done */ \
-    A("sts %[timsk0], r16")             /* 2 And restore the old value */ \
-    A("pop r16")                        /* 2 Get the old SREG */ \
-    A("out __SREG__, r16")              /* 1 And restore the SREG value */ \
-    A("pop r16")                        /* 2 Restore R16 */ \
-    A("reti")                           /* 4 Return from interrupt */ \
-    :                                   \
-    : [timsk0] "i"((uint16_t)&TIMSK0),  \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
-    : \
-  ); \
-} \
-void TIMER0_COMPB_vect_bottom()
-
-// ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
-#endif
-
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
-
-#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
-#else
-  #define HAL_START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
-#endif
-
-#define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
-
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
-
-#define HAL_SENSITIVE_PINS 0, 1
-
-#ifdef __AVR_AT90USB1286__
-  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
-#endif
-
-// AVR compatibility
-#define strtof strtod
-
-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
-
-/**
- * set_pwm_duty
- *  Sets the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);

Marlin/src/HAL/HAL_AVR/HAL_SPI.cpp

@@ -1,253 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Adapted from Arduino Sd2Card Library
- * Copyright (c) 2009 by William Greiman
- */
-
-/**
- * HAL for AVR - SPI functions
- */
-
-#ifdef __AVR__
-
-#include "../../inc/MarlinConfig.h"
-
-void spiBegin() {
-  OUT_WRITE(SS_PIN, HIGH);
-  SET_OUTPUT(SCK_PIN);
-  SET_INPUT(MISO_PIN);
-  SET_OUTPUT(MOSI_PIN);
-
-  #if DISABLED(SOFTWARE_SPI)
-    // SS must be in output mode even it is not chip select
-    //SET_OUTPUT(SS_PIN);
-    // set SS high - may be chip select for another SPI device
-    //#if SET_SPI_SS_HIGH
-      //WRITE(SS_PIN, HIGH);
-    //#endif
-    // set a default rate
-    spiInit(1);
-  #endif
-}
-
-#if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)
-
-  // ------------------------
-  // Hardware SPI
-  // ------------------------
-
-  // make sure SPCR rate is in expected bits
-  #if (SPR0 != 0 || SPR1 != 1)
-    #error "unexpected SPCR bits"
-  #endif
-
-  /**
-   * Initialize hardware SPI
-   * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
-   */
-  void spiInit(uint8_t spiRate) {
-    // See avr processor documentation
-    CBI(
-      #ifdef PRR
-        PRR
-      #elif defined(PRR0)
-        PRR0
-      #endif
-        , PRSPI);
-
-    SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
-    SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
-  }
-
-  /** SPI receive a byte */
-  uint8_t spiRec() {
-    SPDR = 0xFF;
-    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-    return SPDR;
-  }
-
-  /** SPI read data  */
-  void spiRead(uint8_t* buf, uint16_t nbyte) {
-    if (nbyte-- == 0) return;
-    SPDR = 0xFF;
-    for (uint16_t i = 0; i < nbyte; i++) {
-      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-      buf[i] = SPDR;
-      SPDR = 0xFF;
-    }
-    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-    buf[nbyte] = SPDR;
-  }
-
-  /** SPI send a byte */
-  void spiSend(uint8_t b) {
-    SPDR = b;
-    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-  }
-
-  /** SPI send block  */
-  void spiSendBlock(uint8_t token, const uint8_t* buf) {
-    SPDR = token;
-    for (uint16_t i = 0; i < 512; i += 2) {
-      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-      SPDR = buf[i];
-      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-      SPDR = buf[i + 1];
-    }
-    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
-  }
-
-
-  /** begin spi transaction */
-  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
-    // Based on Arduino SPI library
-    // Clock settings are defined as follows. Note that this shows SPI2X
-    // inverted, so the bits form increasing numbers. Also note that
-    // fosc/64 appears twice
-    // SPR1 SPR0 ~SPI2X Freq
-    //   0    0     0   fosc/2
-    //   0    0     1   fosc/4
-    //   0    1     0   fosc/8
-    //   0    1     1   fosc/16
-    //   1    0     0   fosc/32
-    //   1    0     1   fosc/64
-    //   1    1     0   fosc/64
-    //   1    1     1   fosc/128
-
-    // We find the fastest clock that is less than or equal to the
-    // given clock rate. The clock divider that results in clock_setting
-    // is 2 ^^ (clock_div + 1). If nothing is slow enough, we'll use the
-    // slowest (128 == 2 ^^ 7, so clock_div = 6).
-    uint8_t clockDiv;
-
-    // When the clock is known at compiletime, use this if-then-else
-    // cascade, which the compiler knows how to completely optimize
-    // away. When clock is not known, use a loop instead, which generates
-    // shorter code.
-    if (__builtin_constant_p(spiClock)) {
-      if (spiClock >= F_CPU / 2)       clockDiv = 0;
-      else if (spiClock >= F_CPU / 4)  clockDiv = 1;
-      else if (spiClock >= F_CPU / 8)  clockDiv = 2;
-      else if (spiClock >= F_CPU / 16) clockDiv = 3;
-      else if (spiClock >= F_CPU / 32) clockDiv = 4;
-      else if (spiClock >= F_CPU / 64) clockDiv = 5;
-      else                             clockDiv = 6;
-    }
-    else {
-      uint32_t clockSetting = F_CPU / 2;
-      clockDiv = 0;
-      while (clockDiv < 6 && spiClock < clockSetting) {
-        clockSetting /= 2;
-        clockDiv++;
-      }
-    }
-
-    // Compensate for the duplicate fosc/64
-    if (clockDiv == 6) clockDiv = 7;
-
-    // Invert the SPI2X bit
-    clockDiv ^= 0x1;
-
-    SPCR = _BV(SPE) | _BV(MSTR) | ((bitOrder == LSBFIRST) ? _BV(DORD) : 0) |
-      (dataMode << CPHA) | ((clockDiv >> 1) << SPR0);
-    SPSR = clockDiv | 0x01;
-  }
-
-
-#else // SOFTWARE_SPI || FORCE_SOFT_SPI
-
-  // ------------------------
-  // Software SPI
-  // ------------------------
-
-  // nop to tune soft SPI timing
-  #define nop asm volatile ("\tnop\n")
-
-  void spiInit(uint8_t) { /* do nothing */ }
-
-  // Begin SPI transaction, set clock, bit order, data mode
-  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ }
-
-  // Soft SPI receive byte
-  uint8_t spiRec() {
-    uint8_t data = 0;
-    // no interrupts during byte receive - about 8µs
-    cli();
-    // output pin high - like sending 0xFF
-    WRITE(MOSI_PIN, HIGH);
-
-    for (uint8_t i = 0; i < 8; i++) {
-      WRITE(SCK_PIN, HIGH);
-
-      nop; // adjust so SCK is nice
-      nop;
-
-      data <<= 1;
-
-      if (READ(MISO_PIN)) data |= 1;
-
-      WRITE(SCK_PIN, LOW);
-    }
-
-    sei();
-    return data;
-  }
-
-  // Soft SPI read data
-  void spiRead(uint8_t* buf, uint16_t nbyte) {
-    for (uint16_t i = 0; i < nbyte; i++)
-      buf[i] = spiRec();
-  }
-
-  // Soft SPI send byte
-  void spiSend(uint8_t data) {
-    // no interrupts during byte send - about 8µs
-    cli();
-    for (uint8_t i = 0; i < 8; i++) {
-      WRITE(SCK_PIN, LOW);
-      WRITE(MOSI_PIN, data & 0x80);
-      data <<= 1;
-      WRITE(SCK_PIN, HIGH);
-    }
-
-    nop; // hold SCK high for a few ns
-    nop;
-    nop;
-    nop;
-
-    WRITE(SCK_PIN, LOW);
-
-    sei();
-  }
-
-  // Soft SPI send block
-  void spiSendBlock(uint8_t token, const uint8_t* buf) {
-    spiSend(token);
-    for (uint16_t i = 0; i < 512; i++)
-      spiSend(buf[i]);
-  }
-
-#endif // SOFTWARE_SPI || FORCE_SOFT_SPI
-
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/MarlinSerial.cpp

@@ -1,765 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * MarlinSerial.cpp - Hardware serial library for Wiring
- * Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
- *
- * Modified 23 November 2006 by David A. Mellis
- * Modified 28 September 2010 by Mark Sproul
- * Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
- * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
- * Modified 10 June 2018 by Eduardo José Tagle (See #10991)
- * Templatized 01 October 2018 by Eduardo José Tagle to allow multiple instances
- */
-
-#ifdef __AVR__
-
-// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
-
-#include "../../inc/MarlinConfig.h"
-
-#if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
-
-  #include "MarlinSerial.h"
-  #include "../../Marlin.h"
-
-  template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
-  template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
-  template<typename Cfg> bool     MarlinSerial<Cfg>::_written = false;
-  template<typename Cfg> uint8_t  MarlinSerial<Cfg>::xon_xoff_state = MarlinSerial<Cfg>::XON_XOFF_CHAR_SENT | MarlinSerial<Cfg>::XON_CHAR;
-  template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_dropped_bytes = 0;
-  template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_buffer_overruns = 0;
-  template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_framing_errors = 0;
-  template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::rx_max_enqueued = 0;
-
-  // A SW memory barrier, to ensure GCC does not overoptimize loops
-  #define sw_barrier() asm volatile("": : :"memory");
-
-  #include "../../feature/emergency_parser.h"
-
-  // "Atomically" read the RX head index value without disabling interrupts:
-  // This MUST be called with RX interrupts enabled, and CAN'T be called
-  // from the RX ISR itself!
-  template<typename Cfg>
-  FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_head() {
-    if (Cfg::RX_SIZE > 256) {
-      // Keep reading until 2 consecutive reads return the same value,
-      // meaning there was no update in-between caused by an interrupt.
-      // This works because serial RX interrupts happen at a slower rate
-      // than successive reads of a variable, so 2 consecutive reads with
-      // the same value means no interrupt updated it.
-      ring_buffer_pos_t vold, vnew = rx_buffer.head;
-      sw_barrier();
-      do {
-        vold = vnew;
-        vnew = rx_buffer.head;
-        sw_barrier();
-      } while (vold != vnew);
-      return vnew;
-    }
-    else {
-      // With an 8bit index, reads are always atomic. No need for special handling
-      return rx_buffer.head;
-    }
-  }
-
-  template<typename Cfg>
-  volatile bool MarlinSerial<Cfg>::rx_tail_value_not_stable = false;
-  template<typename Cfg>
-  volatile uint16_t MarlinSerial<Cfg>::rx_tail_value_backup = 0;
-
-  // Set RX tail index, taking into account the RX ISR could interrupt
-  //  the write to this variable in the middle - So a backup strategy
-  //  is used to ensure reads of the correct values.
-  //    -Must NOT be called from the RX ISR -
-  template<typename Cfg>
-  FORCE_INLINE void MarlinSerial<Cfg>::atomic_set_rx_tail(typename MarlinSerial<Cfg>::ring_buffer_pos_t value) {
-    if (Cfg::RX_SIZE > 256) {
-      // Store the new value in the backup
-      rx_tail_value_backup = value;
-      sw_barrier();
-      // Flag we are about to change the true value
-      rx_tail_value_not_stable = true;
-      sw_barrier();
-      // Store the new value
-      rx_buffer.tail = value;
-      sw_barrier();
-      // Signal the new value is completely stored into the value
-      rx_tail_value_not_stable = false;
-      sw_barrier();
-    }
-    else
-      rx_buffer.tail = value;
-  }
-
-  // Get the RX tail index, taking into account the read could be
-  //  interrupting in the middle of the update of that index value
-  //    -Called from the RX ISR -
-  template<typename Cfg>
-  FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_tail() {
-    if (Cfg::RX_SIZE > 256) {
-      // If the true index is being modified, return the backup value
-      if (rx_tail_value_not_stable) return rx_tail_value_backup;
-    }
-    // The true index is stable, return it
-    return rx_buffer.tail;
-  }
-
-  // (called with RX interrupts disabled)
-  template<typename Cfg>
-  FORCE_INLINE void MarlinSerial<Cfg>::store_rxd_char() {
-
-    static EmergencyParser::State emergency_state; // = EP_RESET
-
-    // Get the tail - Nothing can alter its value while this ISR is executing, but there's
-    // a chance that this ISR interrupted the main process while it was updating the index.
-    // The backup mechanism ensures the correct value is always returned.
-    const ring_buffer_pos_t t = atomic_read_rx_tail();
-
-    // Get the head pointer - This ISR is the only one that modifies its value, so it's safe to read here
-    ring_buffer_pos_t h = rx_buffer.head;
-
-    // Get the next element
-    ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-
-    // This must read the R_UCSRA register before reading the received byte to detect error causes
-    if (Cfg::DROPPED_RX && B_DOR && !++rx_dropped_bytes) --rx_dropped_bytes;
-    if (Cfg::RX_OVERRUNS && B_DOR && !++rx_buffer_overruns) --rx_buffer_overruns;
-    if (Cfg::RX_FRAMING_ERRORS && B_FE && !++rx_framing_errors) --rx_framing_errors;
-
-    // Read the character from the USART
-    uint8_t c = R_UDR;
-
-    if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
-
-    // If the character is to be stored at the index just before the tail
-    // (such that the head would advance to the current tail), the RX FIFO is
-    // full, so don't write the character or advance the head.
-    if (i != t) {
-      rx_buffer.buffer[h] = c;
-      h = i;
-    }
-    else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
-      --rx_dropped_bytes;
-
-    if (Cfg::MAX_RX_QUEUED) {
-      // Calculate count of bytes stored into the RX buffer
-      const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-
-      // Keep track of the maximum count of enqueued bytes
-      NOLESS(rx_max_enqueued, rx_count);
-    }
-
-    if (Cfg::XONOFF) {
-      // If the last char that was sent was an XON
-      if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
-
-        // Bytes stored into the RX buffer
-        const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-
-        // If over 12.5% of RX buffer capacity, send XOFF before running out of
-        // RX buffer space .. 325 bytes @ 250kbits/s needed to let the host react
-        // and stop sending bytes. This translates to 13mS propagation time.
-        if (rx_count >= (Cfg::RX_SIZE) / 8) {
-
-          // At this point, definitely no TX interrupt was executing, since the TX ISR can't be preempted.
-          // Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens
-          // to be in the middle of trying to disable the RX interrupt in the main program, eventually the
-          // enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure
-          // the sending of the XOFF char is to send it HERE AND NOW.
-
-          // About to send the XOFF char
-          xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
-
-          // Wait until the TX register becomes empty and send it - Here there could be a problem
-          // - While waiting for the TX register to empty, the RX register could receive a new
-          //   character. This must also handle that situation!
-          while (!B_UDRE) {
-
-            if (B_RXC) {
-              // A char arrived while waiting for the TX buffer to be empty - Receive and process it!
-
-              i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-
-              // Read the character from the USART
-              c = R_UDR;
-
-              if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
-
-              // If the character is to be stored at the index just before the tail
-              // (such that the head would advance to the current tail), the FIFO is
-              // full, so don't write the character or advance the head.
-              if (i != t) {
-                rx_buffer.buffer[h] = c;
-                h = i;
-              }
-              else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
-                --rx_dropped_bytes;
-            }
-            sw_barrier();
-          }
-
-          R_UDR = XOFF_CHAR;
-
-          // Clear the TXC bit -- "can be cleared by writing a one to its bit
-          // location". This makes sure flush() won't return until the bytes
-          // actually got written
-          B_TXC = 1;
-
-          // At this point there could be a race condition between the write() function
-          // and this sending of the XOFF char. This interrupt could happen between the
-          // wait to be empty TX buffer loop and the actual write of the character. Since
-          // the TX buffer is full because it's sending the XOFF char, the only way to be
-          // sure the write() function will succeed is to wait for the XOFF char to be
-          // completely sent. Since an extra character could be received during the wait
-          // it must also be handled!
-          while (!B_UDRE) {
-
-            if (B_RXC) {
-              // A char arrived while waiting for the TX buffer to be empty - Receive and process it!
-
-              i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-
-              // Read the character from the USART
-              c = R_UDR;
-
-              if (Cfg::EMERGENCYPARSER)
-                emergency_parser.update(emergency_state, c);
-
-              // If the character is to be stored at the index just before the tail
-              // (such that the head would advance to the current tail), the FIFO is
-              // full, so don't write the character or advance the head.
-              if (i != t) {
-                rx_buffer.buffer[h] = c;
-                h = i;
-              }
-              else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
-                --rx_dropped_bytes;
-            }
-            sw_barrier();
-          }
-
-          // At this point everything is ready. The write() function won't
-          // have any issues writing to the UART TX register if it needs to!
-        }
-      }
-    }
-
-    // Store the new head value - The main loop will retry until the value is stable
-    rx_buffer.head = h;
-  }
-
-  // (called with TX irqs disabled)
-  template<typename Cfg>
-  FORCE_INLINE void MarlinSerial<Cfg>::_tx_udr_empty_irq() {
-    if (Cfg::TX_SIZE > 0) {
-      // Read positions
-      uint8_t t = tx_buffer.tail;
-      const uint8_t h = tx_buffer.head;
-
-      if (Cfg::XONOFF) {
-        // If an XON char is pending to be sent, do it now
-        if (xon_xoff_state == XON_CHAR) {
-
-          // Send the character
-          R_UDR = XON_CHAR;
-
-          // clear the TXC bit -- "can be cleared by writing a one to its bit
-          // location". This makes sure flush() won't return until the bytes
-          // actually got written
-          B_TXC = 1;
-
-          // Remember we sent it.
-          xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
-
-          // If nothing else to transmit, just disable TX interrupts.
-          if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
-
-          return;
-        }
-      }
-
-      // If nothing to transmit, just disable TX interrupts. This could
-      // happen as the result of the non atomicity of the disabling of RX
-      // interrupts that could end reenabling TX interrupts as a side effect.
-      if (h == t) {
-        B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
-        return;
-      }
-
-      // There is something to TX, Send the next byte
-      const uint8_t c = tx_buffer.buffer[t];
-      t = (t + 1) & (Cfg::TX_SIZE - 1);
-      R_UDR = c;
-      tx_buffer.tail = t;
-
-      // Clear the TXC bit (by writing a one to its bit location).
-      // Ensures flush() won't return until the bytes are actually written/
-      B_TXC = 1;
-
-      // Disable interrupts if there is nothing to transmit following this byte
-      if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
-    }
-  }
-
-  // Public Methods
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::begin(const long baud) {
-    uint16_t baud_setting;
-    bool useU2X = true;
-
-    #if F_CPU == 16000000UL && SERIAL_PORT == 0
-      // Hard-coded exception for compatibility with the bootloader shipped
-      // with the Duemilanove and previous boards, and the firmware on the
-      // 8U2 on the Uno and Mega 2560.
-      if (baud == 57600) useU2X = false;
-    #endif
-
-    R_UCSRA = 0;
-    if (useU2X) {
-      B_U2X = 1;
-      baud_setting = (F_CPU / 4 / baud - 1) / 2;
-    }
-    else
-      baud_setting = (F_CPU / 8 / baud - 1) / 2;
-
-    // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
-    R_UBRRH = baud_setting >> 8;
-    R_UBRRL = baud_setting;
-
-    B_RXEN = 1;
-    B_TXEN = 1;
-    B_RXCIE = 1;
-    if (Cfg::TX_SIZE > 0) B_UDRIE = 0;
-    _written = false;
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::end() {
-    B_RXEN = 0;
-    B_TXEN = 0;
-    B_RXCIE = 0;
-    B_UDRIE = 0;
-  }
-
-  template<typename Cfg>
-  int MarlinSerial<Cfg>::peek() {
-    const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
-    return h == t ? -1 : rx_buffer.buffer[t];
-  }
-
-  template<typename Cfg>
-  int MarlinSerial<Cfg>::read() {
-    const ring_buffer_pos_t h = atomic_read_rx_head();
-
-    // Read the tail. Main thread owns it, so it is safe to directly read it
-    ring_buffer_pos_t t = rx_buffer.tail;
-
-    // If nothing to read, return now
-    if (h == t) return -1;
-
-    // Get the next char
-    const int v = rx_buffer.buffer[t];
-    t = (ring_buffer_pos_t)(t + 1) & (Cfg::RX_SIZE - 1);
-
-    // Advance tail - Making sure the RX ISR will always get an stable value, even
-    // if it interrupts the writing of the value of that variable in the middle.
-    atomic_set_rx_tail(t);
-
-    if (Cfg::XONOFF) {
-      // If the XOFF char was sent, or about to be sent...
-      if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
-        // Get count of bytes in the RX buffer
-        const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
-        if (rx_count < (Cfg::RX_SIZE) / 10) {
-          if (Cfg::TX_SIZE > 0) {
-            // Signal we want an XON character to be sent.
-            xon_xoff_state = XON_CHAR;
-            // Enable TX ISR. Non atomic, but it will eventually enable them
-            B_UDRIE = 1;
-          }
-          else {
-            // If not using TX interrupts, we must send the XON char now
-            xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
-            while (!B_UDRE) sw_barrier();
-            R_UDR = XON_CHAR;
-          }
-        }
-      }
-    }
-
-    return v;
-  }
-
-  template<typename Cfg>
-  typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::available() {
-    const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
-    return (ring_buffer_pos_t)(Cfg::RX_SIZE + h - t) & (Cfg::RX_SIZE - 1);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::flush() {
-
-    // Set the tail to the head:
-    //  - Read the RX head index in a safe way. (See atomic_read_rx_head.)
-    //  - Set the tail, making sure the RX ISR will always get a stable value, even
-    //    if it interrupts the writing of the value of that variable in the middle.
-    atomic_set_rx_tail(atomic_read_rx_head());
-
-    if (Cfg::XONOFF) {
-      // If the XOFF char was sent, or about to be sent...
-      if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
-        if (Cfg::TX_SIZE > 0) {
-          // Signal we want an XON character to be sent.
-          xon_xoff_state = XON_CHAR;
-          // Enable TX ISR. Non atomic, but it will eventually enable it.
-          B_UDRIE = 1;
-        }
-        else {
-          // If not using TX interrupts, we must send the XON char now
-          xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
-          while (!B_UDRE) sw_barrier();
-          R_UDR = XON_CHAR;
-        }
-      }
-    }
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::write(const uint8_t c) {
-    if (Cfg::TX_SIZE == 0) {
-
-      _written = true;
-      while (!B_UDRE) sw_barrier();
-      R_UDR = c;
-
-    }
-    else {
-
-      _written = true;
-
-      // If the TX interrupts are disabled and the data register
-      // is empty, just write the byte to the data register and
-      // be done. This shortcut helps significantly improve the
-      // effective datarate at high (>500kbit/s) bitrates, where
-      // interrupt overhead becomes a slowdown.
-      // Yes, there is a race condition between the sending of the
-      // XOFF char at the RX ISR, but it is properly handled there
-      if (!B_UDRIE && B_UDRE) {
-        R_UDR = c;
-
-        // clear the TXC bit -- "can be cleared by writing a one to its bit
-        // location". This makes sure flush() won't return until the bytes
-        // actually got written
-        B_TXC = 1;
-        return;
-      }
-
-      const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
-
-      // If global interrupts are disabled (as the result of being called from an ISR)...
-      if (!ISRS_ENABLED()) {
-
-        // Make room by polling if it is possible to transmit, and do so!
-        while (i == tx_buffer.tail) {
-
-          // If we can transmit another byte, do it.
-          if (B_UDRE) _tx_udr_empty_irq();
-
-          // Make sure compiler rereads tx_buffer.tail
-          sw_barrier();
-        }
-      }
-      else {
-        // Interrupts are enabled, just wait until there is space
-        while (i == tx_buffer.tail) sw_barrier();
-      }
-
-      // Store new char. head is always safe to move
-      tx_buffer.buffer[tx_buffer.head] = c;
-      tx_buffer.head = i;
-
-      // Enable TX ISR - Non atomic, but it will eventually enable TX ISR
-      B_UDRIE = 1;
-    }
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::flushTX() {
-
-    if (Cfg::TX_SIZE == 0) {
-      // No bytes written, no need to flush. This special case is needed since there's
-      // no way to force the TXC (transmit complete) bit to 1 during initialization.
-      if (!_written) return;
-
-      // Wait until everything was transmitted
-      while (!B_TXC) sw_barrier();
-
-      // At this point nothing is queued anymore (DRIE is disabled) and
-      // the hardware finished transmission (TXC is set).
-
-    }
-    else {
-
-      // No bytes written, no need to flush. This special case is needed since there's
-      // no way to force the TXC (transmit complete) bit to 1 during initialization.
-      if (!_written) return;
-
-      // If global interrupts are disabled (as the result of being called from an ISR)...
-      if (!ISRS_ENABLED()) {
-
-        // Wait until everything was transmitted - We must do polling, as interrupts are disabled
-        while (tx_buffer.head != tx_buffer.tail || !B_TXC) {
-
-          // If there is more space, send an extra character
-          if (B_UDRE) _tx_udr_empty_irq();
-
-          sw_barrier();
-        }
-
-      }
-      else {
-        // Wait until everything was transmitted
-        while (tx_buffer.head != tx_buffer.tail || !B_TXC) sw_barrier();
-      }
-
-      // At this point nothing is queued anymore (DRIE is disabled) and
-      // the hardware finished transmission (TXC is set).
-    }
-  }
-
-  /**
-   * Imports from print.h
-   */
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(char c, int base) {
-    print((long)c, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(unsigned char b, int base) {
-    print((unsigned long)b, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(int n, int base) {
-    print((long)n, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(unsigned int n, int base) {
-    print((unsigned long)n, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(long n, int base) {
-    if (base == 0) write(n);
-    else if (base == 10) {
-      if (n < 0) { print('-'); n = -n; }
-      printNumber(n, 10);
-    }
-    else
-      printNumber(n, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(unsigned long n, int base) {
-    if (base == 0) write(n);
-    else printNumber(n, base);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::print(double n, int digits) {
-    printFloat(n, digits);
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println() {
-    print('\r');
-    print('\n');
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(const String& s) {
-    print(s);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(const char c[]) {
-    print(c);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(char c, int base) {
-    print(c, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(unsigned char b, int base) {
-    print(b, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(int n, int base) {
-    print(n, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(unsigned int n, int base) {
-    print(n, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(long n, int base) {
-    print(n, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(unsigned long n, int base) {
-    print(n, base);
-    println();
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::println(double n, int digits) {
-    print(n, digits);
-    println();
-  }
-
-  // Private Methods
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) {
-    if (n) {
-      unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
-      int8_t i = 0;
-      while (n) {
-        buf[i++] = n % base;
-        n /= base;
-      }
-      while (i--)
-        print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
-    }
-    else
-      print('0');
-  }
-
-  template<typename Cfg>
-  void MarlinSerial<Cfg>::printFloat(double number, uint8_t digits) {
-    // Handle negative numbers
-    if (number < 0.0) {
-      print('-');
-      number = -number;
-    }
-
-    // Round correctly so that print(1.999, 2) prints as "2.00"
-    double rounding = 0.5;
-    for (uint8_t i = 0; i < digits; ++i) rounding *= 0.1;
-    number += rounding;
-
-    // Extract the integer part of the number and print it
-    unsigned long int_part = (unsigned long)number;
-    double remainder = number - (double)int_part;
-    print(int_part);
-
-    // Print the decimal point, but only if there are digits beyond
-    if (digits) {
-      print('.');
-      // Extract digits from the remainder one at a time
-      while (digits--) {
-        remainder *= 10.0;
-        int toPrint = int(remainder);
-        print(toPrint);
-        remainder -= toPrint;
-      }
-    }
-  }
-
-  // Hookup ISR handlers
-  ISR(SERIAL_REGNAME(USART,SERIAL_PORT,_RX_vect)) {
-    MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::store_rxd_char();
-  }
-
-  ISR(SERIAL_REGNAME(USART,SERIAL_PORT,_UDRE_vect)) {
-    MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::_tx_udr_empty_irq();
-  }
-
-  // Preinstantiate
-  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>;
-
-  // Instantiate
-  MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
-
-  #ifdef SERIAL_PORT_2
-
-    // Hookup ISR handlers
-    ISR(SERIAL_REGNAME(USART,SERIAL_PORT_2,_RX_vect)) {
-      MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>::store_rxd_char();
-    }
-
-    ISR(SERIAL_REGNAME(USART,SERIAL_PORT_2,_UDRE_vect)) {
-      MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>::_tx_udr_empty_irq();
-    }
-
-    // Preinstantiate
-    template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>;
-
-    // Instantiate
-    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
-
-  #endif
-
-#endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
-
-#ifdef INTERNAL_SERIAL_PORT
-
-  ISR(SERIAL_REGNAME(USART,INTERNAL_SERIAL_PORT,_RX_vect)) {
-    MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>::store_rxd_char();
-  }
-
-  ISR(SERIAL_REGNAME(USART,INTERNAL_SERIAL_PORT,_UDRE_vect)) {
-    MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>::_tx_udr_empty_irq();
-  }
-
-  // Preinstantiate
-  template class MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>;
-
-  // Instantiate
-  MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>> internalSerial;
-
-#endif
-
-// For AT90USB targets use the UART for BT interfacing
-#if defined(USBCON) && ENABLED(BLUETOOTH)
-  HardwareSerial bluetoothSerial;
-#endif
-
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/MarlinSerial.h

@@ -1,298 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * MarlinSerial.h - Hardware serial library for Wiring
- * Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
- *
- * Modified 28 September 2010 by Mark Sproul
- * Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
- * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
- * Templatized 01 October 2018 by Eduardo José Tagle to allow multiple instances
- */
-
-#include "../shared/MarlinSerial.h"
-
-#include <WString.h>
-
-#ifndef SERIAL_PORT
-  #define SERIAL_PORT 0
-#endif
-
-#ifndef USBCON
-
-  // The presence of the UBRRH register is used to detect a UART.
-  #define UART_PRESENT(port) ((port == 0 && (defined(UBRRH) || defined(UBRR0H))) || \
-                              (port == 1 && defined(UBRR1H)) || (port == 2 && defined(UBRR2H)) || \
-                              (port == 3 && defined(UBRR3H)))
-
-  // These are macros to build serial port register names for the selected SERIAL_PORT (C preprocessor
-  // requires two levels of indirection to expand macro values properly)
-  #define SERIAL_REGNAME(registerbase,number,suffix) SERIAL_REGNAME_INTERNAL(registerbase,number,suffix)
-  #if SERIAL_PORT == 0 && (!defined(UBRR0H) || !defined(UDR0)) // use un-numbered registers if necessary
-    #define SERIAL_REGNAME_INTERNAL(registerbase,number,suffix) registerbase##suffix
-  #else
-    #define SERIAL_REGNAME_INTERNAL(registerbase,number,suffix) registerbase##number##suffix
-  #endif
-
-  // Registers used by MarlinSerial class (expanded depending on selected serial port)
-
-  // Templated 8bit register (generic)
-  #define UART_REGISTER_DECL_BASE(registerbase, suffix) \
-    template<int portNr> struct R_##registerbase##x##suffix {}
-
-  // Templated 8bit register (specialization for each port)
-  #define UART_REGISTER_DECL(port, registerbase, suffix) \
-    template<> struct R_##registerbase##x##suffix<port> { \
-      constexpr R_##registerbase##x##suffix(int) {} \
-      FORCE_INLINE void operator=(uint8_t newVal) const { SERIAL_REGNAME(registerbase,port,suffix) = newVal; } \
-      FORCE_INLINE operator uint8_t() const { return SERIAL_REGNAME(registerbase,port,suffix); } \
-    }
-
-  // Templated 1bit register (generic)
-  #define UART_BIT_DECL_BASE(registerbase, suffix, bit) \
-    template<int portNr>struct B_##bit##x {}
-
-  // Templated 1bit register (specialization for each port)
-  #define UART_BIT_DECL(port, registerbase, suffix, bit) \
-    template<> struct B_##bit##x<port> { \
-      constexpr B_##bit##x(int) {} \
-      FORCE_INLINE void operator=(int newVal) const { \
-        if (newVal) \
-          SBI(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); \
-        else \
-          CBI(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); \
-      } \
-      FORCE_INLINE operator bool() const { return TEST(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); } \
-    }
-
-  #define UART_DECL_BASE() \
-    UART_REGISTER_DECL_BASE(UCSR,A);\
-    UART_REGISTER_DECL_BASE(UDR,);\
-    UART_REGISTER_DECL_BASE(UBRR,H);\
-    UART_REGISTER_DECL_BASE(UBRR,L);\
-    UART_BIT_DECL_BASE(UCSR,B,RXEN);\
-    UART_BIT_DECL_BASE(UCSR,B,TXEN);\
-    UART_BIT_DECL_BASE(UCSR,A,TXC);\
-    UART_BIT_DECL_BASE(UCSR,B,RXCIE);\
-    UART_BIT_DECL_BASE(UCSR,A,UDRE);\
-    UART_BIT_DECL_BASE(UCSR,A,FE);\
-    UART_BIT_DECL_BASE(UCSR,A,DOR);\
-    UART_BIT_DECL_BASE(UCSR,B,UDRIE);\
-    UART_BIT_DECL_BASE(UCSR,A,RXC);\
-    UART_BIT_DECL_BASE(UCSR,A,U2X)
-
-  #define UART_DECL(port) \
-    UART_REGISTER_DECL(port,UCSR,A);\
-    UART_REGISTER_DECL(port,UDR,);\
-    UART_REGISTER_DECL(port,UBRR,H);\
-    UART_REGISTER_DECL(port,UBRR,L);\
-    UART_BIT_DECL(port,UCSR,B,RXEN);\
-    UART_BIT_DECL(port,UCSR,B,TXEN);\
-    UART_BIT_DECL(port,UCSR,A,TXC);\
-    UART_BIT_DECL(port,UCSR,B,RXCIE);\
-    UART_BIT_DECL(port,UCSR,A,UDRE);\
-    UART_BIT_DECL(port,UCSR,A,FE);\
-    UART_BIT_DECL(port,UCSR,A,DOR);\
-    UART_BIT_DECL(port,UCSR,B,UDRIE);\
-    UART_BIT_DECL(port,UCSR,A,RXC);\
-    UART_BIT_DECL(port,UCSR,A,U2X)
-
-  // Declare empty templates
-  UART_DECL_BASE();
-
-  // And all the specializations for each possible serial port
-  #if UART_PRESENT(0)
-    UART_DECL(0);
-  #endif
-  #if UART_PRESENT(1)
-    UART_DECL(1);
-  #endif
-  #if UART_PRESENT(2)
-    UART_DECL(2);
-  #endif
-  #if UART_PRESENT(3)
-    UART_DECL(3);
-  #endif
-
-  #define DEC 10
-  #define HEX 16
-  #define OCT 8
-  #define BIN 2
-  #define BYTE 0
-
-  // Templated type selector
-  template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
-  template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
-
-  template<typename Cfg>
-  class MarlinSerial {
-  protected:
-    // Registers
-    static constexpr R_UCSRxA<Cfg::PORT> R_UCSRA = 0;
-    static constexpr R_UDRx<Cfg::PORT>   R_UDR   = 0;
-    static constexpr R_UBRRxH<Cfg::PORT> R_UBRRH = 0;
-    static constexpr R_UBRRxL<Cfg::PORT> R_UBRRL = 0;
-
-    // Bits
-    static constexpr B_RXENx<Cfg::PORT>  B_RXEN  = 0;
-    static constexpr B_TXENx<Cfg::PORT>  B_TXEN  = 0;
-    static constexpr B_TXCx<Cfg::PORT>   B_TXC   = 0;
-    static constexpr B_RXCIEx<Cfg::PORT> B_RXCIE = 0;
-    static constexpr B_UDREx<Cfg::PORT>  B_UDRE  = 0;
-    static constexpr B_FEx<Cfg::PORT>    B_FE    = 0;
-    static constexpr B_DORx<Cfg::PORT>   B_DOR   = 0;
-    static constexpr B_UDRIEx<Cfg::PORT> B_UDRIE = 0;
-    static constexpr B_RXCx<Cfg::PORT>   B_RXC   = 0;
-    static constexpr B_U2Xx<Cfg::PORT>   B_U2X   = 0;
-
-    // Base size of type on buffer size
-    typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t;
-
-    struct ring_buffer_r {
-      volatile ring_buffer_pos_t head, tail;
-      unsigned char buffer[Cfg::RX_SIZE];
-    };
-
-    struct ring_buffer_t {
-      volatile uint8_t head, tail;
-      unsigned char buffer[Cfg::TX_SIZE];
-    };
-
-    static ring_buffer_r rx_buffer;
-    static ring_buffer_t tx_buffer;
-    static bool _written;
-
-    static constexpr uint8_t XON_XOFF_CHAR_SENT = 0x80,  // XON / XOFF Character was sent
-                             XON_XOFF_CHAR_MASK = 0x1F;  // XON / XOFF character to send
-
-    // XON / XOFF character definitions
-    static constexpr uint8_t XON_CHAR  = 17, XOFF_CHAR = 19;
-    static uint8_t xon_xoff_state,
-                   rx_dropped_bytes,
-                   rx_buffer_overruns,
-                   rx_framing_errors;
-    static ring_buffer_pos_t rx_max_enqueued;
-
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
-
-    static volatile bool rx_tail_value_not_stable;
-    static volatile uint16_t rx_tail_value_backup;
-
-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
-
-    public:
-
-    FORCE_INLINE static void store_rxd_char();
-    FORCE_INLINE static void _tx_udr_empty_irq();
-
-    public:
-      MarlinSerial() {};
-      static void begin(const long);
-      static void end();
-      static int peek();
-      static int read();
-      static void flush();
-      static ring_buffer_pos_t available();
-      static void write(const uint8_t c);
-      static void flushTX();
-
-      FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
-      FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
-      FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
-      FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
-
-      FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
-      FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
-      FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
-      FORCE_INLINE static void print(const char* str) { write(str); }
-
-      static void print(char, int = BYTE);
-      static void print(unsigned char, int = BYTE);
-      static void print(int, int = DEC);
-      static void print(unsigned int, int = DEC);
-      static void print(long, int = DEC);
-      static void print(unsigned long, int = DEC);
-      static void print(double, int = 2);
-
-      static void println(const String& s);
-      static void println(const char[]);
-      static void println(char, int = BYTE);
-      static void println(unsigned char, int = BYTE);
-      static void println(int, int = DEC);
-      static void println(unsigned int, int = DEC);
-      static void println(long, int = DEC);
-      static void println(unsigned long, int = DEC);
-      static void println(double, int = 2);
-      static void println();
-      operator bool() { return true; }
-
-    private:
-      static void printNumber(unsigned long, const uint8_t);
-      static void printFloat(double, uint8_t);
-  };
-
-  template <uint8_t serial>
-  struct MarlinSerialCfg {
-    static constexpr int PORT               = serial;
-    static constexpr unsigned int RX_SIZE   = RX_BUFFER_SIZE;
-    static constexpr unsigned int TX_SIZE   = TX_BUFFER_SIZE;
-    static constexpr bool XONOFF            = bSERIAL_XON_XOFF;
-    static constexpr bool EMERGENCYPARSER   = bEMERGENCY_PARSER;
-    static constexpr bool DROPPED_RX        = bSERIAL_STATS_DROPPED_RX;
-    static constexpr bool RX_OVERRUNS       = bSERIAL_STATS_RX_BUFFER_OVERRUNS;
-    static constexpr bool RX_FRAMING_ERRORS = bSERIAL_STATS_RX_FRAMING_ERRORS;
-    static constexpr bool MAX_RX_QUEUED     = bSERIAL_STATS_MAX_RX_QUEUED;
-  };
-  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
-
-  #ifdef SERIAL_PORT_2
-
-    extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
-
-  #endif
-
-#endif // !USBCON
-
-#ifdef INTERNAL_SERIAL_PORT
-  template <uint8_t serial>
-  struct MarlinInternalSerialCfg {
-    static constexpr int PORT               = serial;
-    static constexpr unsigned int RX_SIZE   = 32;
-    static constexpr unsigned int TX_SIZE   = 32;
-    static constexpr bool XONOFF            = false;
-    static constexpr bool EMERGENCYPARSER   = false;
-    static constexpr bool DROPPED_RX        = false;
-    static constexpr bool RX_OVERRUNS       = false;
-    static constexpr bool RX_FRAMING_ERRORS = false;
-    static constexpr bool MAX_RX_QUEUED     = false;
-  };
-
-  extern MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>> internalSerial;
-#endif
-
-// Use the UART for Bluetooth in AT90USB configurations
-#if defined(USBCON) && ENABLED(BLUETOOTH)
-  extern HardwareSerial bluetoothSerial;
-#endif

Marlin/src/HAL/HAL_AVR/Servo.cpp

@@ -1,218 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
- * Copyright (c) 2009 Michael Margolis.  All right reserved.
- */
-
-/**
- * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
- * The servos are pulsed in the background using the value most recently written using the write() method
- *
- * Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
- * Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
- *
- * The methods are:
- *
- * Servo - Class for manipulating servo motors connected to Arduino pins.
- *
- * attach(pin)           - Attach a servo motor to an i/o pin.
- * attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
- *                         Default min is 544, max is 2400
- *
- * write()               - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
- * writeMicroseconds()   - Set the servo pulse width in microseconds.
- * move(pin, angle)      - Sequence of attach(pin), write(angle), safe_delay(servo_delay[servoIndex]).
- *                         With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
- * read()                - Get the last-written servo pulse width as an angle between 0 and 180.
- * readMicroseconds()    - Get the last-written servo pulse width in microseconds.
- * attached()            - Return true if a servo is attached.
- * detach()              - Stop an attached servo from pulsing its i/o pin.
- *
- */
-
-#ifdef __AVR__
-
-#include "../../inc/MarlinConfig.h"
-
-#if HAS_SERVOS
-
-#include <avr/interrupt.h>
-
-#include "../shared/Marduino.h"
-#include "../shared/servo.h"
-#include "../shared/servo_private.h"
-
-static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)
-
-
-/************ static functions common to all instances ***********************/
-
-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
-  if (Channel[timer] < 0)
-    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else {
-    if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
-  }
-
-  Channel[timer]++;    // increment to the next channel
-  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
-    *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
-    if (SERVO(timer, Channel[timer]).Pin.isActive)    // check if activated
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
-  }
-  else {
-    // finished all channels so wait for the refresh period to expire before starting over
-    if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL))    // allow a few ticks to ensure the next OCR1A not missed
-      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
-    else
-      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
-    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
-  }
-}
-
-#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
-
-  // Interrupt handlers for Arduino
-  #ifdef _useTimer1
-    SIGNAL(TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
-  #endif
-
-  #ifdef _useTimer3
-    SIGNAL(TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
-  #endif
-
-  #ifdef _useTimer4
-    SIGNAL(TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); }
-  #endif
-
-  #ifdef _useTimer5
-    SIGNAL(TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); }
-  #endif
-
-#else // WIRING
-
-  // Interrupt handlers for Wiring
-  #ifdef _useTimer1
-    void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
-  #endif
-  #ifdef _useTimer3
-    void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
-  #endif
-
-#endif // WIRING
-
-/****************** end of static functions ******************************/
-
-void initISR(timer16_Sequence_t timer) {
-  #ifdef _useTimer1
-    if (timer == _timer1) {
-      TCCR1A = 0;             // normal counting mode
-      TCCR1B = _BV(CS11);     // set prescaler of 8
-      TCNT1 = 0;              // clear the timer count
-      #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
-        SBI(TIFR, OCF1A);      // clear any pending interrupts;
-        SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
-      #else
-        // here if not ATmega8 or ATmega128
-        SBI(TIFR1, OCF1A);     // clear any pending interrupts;
-        SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
-      #endif
-    }
-  #endif
-
-  #ifdef _useTimer3
-    if (timer == _timer3) {
-      TCCR3A = 0;             // normal counting mode
-      TCCR3B = _BV(CS31);     // set prescaler of 8
-      TCNT3 = 0;              // clear the timer count
-      #ifdef __AVR_ATmega128__
-        SBI(TIFR, OCF3A);     // clear any pending interrupts;
-        SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
-      #else
-        SBI(TIFR3, OCF3A);   // clear any pending interrupts;
-        SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
-      #endif
-    }
-  #endif
-
-  #ifdef _useTimer4
-    if (timer == _timer4) {
-      TCCR4A = 0;             // normal counting mode
-      TCCR4B = _BV(CS41);     // set prescaler of 8
-      TCNT4 = 0;              // clear the timer count
-      TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
-      TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
-    }
-  #endif
-
-  #ifdef _useTimer5
-    if (timer == _timer5) {
-      TCCR5A = 0;             // normal counting mode
-      TCCR5B = _BV(CS51);     // set prescaler of 8
-      TCNT5 = 0;              // clear the timer count
-      TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
-      TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
-    }
-  #endif
-}
-
-void finISR(timer16_Sequence_t timer) {
-  // Disable use of the given timer
-  #ifdef WIRING
-    if (timer == _timer1) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK1
-        #else
-          TIMSK
-        #endif
-          , OCIE1A);    // disable timer 1 output compare interrupt
-      timerDetach(TIMER1OUTCOMPAREA_INT);
-    }
-    else if (timer == _timer3) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK3
-        #else
-          ETIMSK
-        #endif
-          , OCIE3A);    // disable the timer3 output compare A interrupt
-      timerDetach(TIMER3OUTCOMPAREA_INT);
-    }
-  #else // !WIRING
-    // For arduino - in future: call here to a currently undefined function to reset the timer
-    UNUSED(timer);
-  #endif
-}
-
-#endif // HAS_SERVOS
-
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/ServoTimers.h

@@ -1,91 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * ServoTimers.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
- * Copyright (c) 2009 Michael Margolis.  All right reserved.
- *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation; either
- * version 2.1 of the License, or (at your option) any later version.
- *
- * This library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public
- * License along with this library; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- */
-
-/**
- * Defines for 16 bit timers used with  Servo library
- *
- * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
- * timer16_Sequence_t enumerates the sequence that the timers should be allocated
- * _Nbr_16timers indicates how many 16 bit timers are available.
- */
-
-/**
- * AVR Only definitions
- * --------------------
- */
-
-#define TRIM_DURATION           2   // compensation ticks to trim adjust for digitalWrite delays
-#define SERVO_TIMER_PRESCALER   8   // timer prescaler
-
-// Say which 16 bit timers can be used and in what order
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-  //#define _useTimer1
-  #define _useTimer3
-  #define _useTimer4
-  #if !HAS_MOTOR_CURRENT_PWM
-    #define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
-  #endif
-#elif defined(__AVR_ATmega32U4__)
-  #define _useTimer3
-#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
-  #define _useTimer3
-#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
-  #define _useTimer3
-#else
-  // everything else
-#endif
-
-typedef enum {
-  #ifdef _useTimer1
-    _timer1,
-  #endif
-  #ifdef _useTimer3
-    _timer3,
-  #endif
-  #ifdef _useTimer4
-    _timer4,
-  #endif
-  #ifdef _useTimer5
-    _timer5,
-  #endif
-  _Nbr_16timers
-} timer16_Sequence_t;

Marlin/src/HAL/HAL_AVR/endstop_interrupts.h

@@ -1,245 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * Endstop Interrupts
- *
- * Without endstop interrupts the endstop pins must be polled continually in
- * the temperature-ISR via endstops.update(), most of the time finding no change.
- * With this feature endstops.update() is called only when we know that at
- * least one endstop has changed state, saving valuable CPU cycles.
- *
- * This feature only works when all used endstop pins can generate either an
- * 'external interrupt' or a 'pin change interrupt'.
- *
- * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
- * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
- */
-
-#include "../../module/endstops.h"
-
-#include <stdint.h>
-
-// One ISR for all EXT-Interrupts
-void endstop_ISR() { endstops.update(); }
-
-/**
- * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
- *
- * These macros for the Arduino MEGA do not include the two connected pins on Port J (D14, D15).
- * So we extend them here because these are the normal pins for Y_MIN and Y_MAX on RAMPS.
- * There are more PCI-enabled processor pins on Port J, but they are not connected to Arduino MEGA.
- */
-#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
-
-  #define digitalPinHasPCICR(p)   (WITHIN(p, 10, 15) || WITHIN(p, 50, 53) || WITHIN(p, 62, 69))
-
-  #undef  digitalPinToPCICR
-  #define digitalPinToPCICR(p)    (digitalPinHasPCICR(p) ? (&PCICR) : nullptr)
-
-  #undef  digitalPinToPCICRbit
-  #define digitalPinToPCICRbit(p) (WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? 0 : \
-                                   WITHIN(p, 14, 15) ? 1 : \
-                                   WITHIN(p, 62, 69) ? 2 : \
-                                   0)
-
-  #undef  digitalPinToPCMSK
-  #define digitalPinToPCMSK(p)    (WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? (&PCMSK0) : \
-                                   WITHIN(p, 14, 15) ? (&PCMSK1) : \
-                                   WITHIN(p, 62, 69) ? (&PCMSK2) : \
-                                   nullptr)
-
-  #undef  digitalPinToPCMSKbit
-  #define digitalPinToPCMSKbit(p) (WITHIN(p, 10, 13) ? ((p) - 6) : \
-                                   (p) == 14 || (p) == 51 ? 2 : \
-                                   (p) == 15 || (p) == 52 ? 1 : \
-                                   (p) == 50 ? 3 : \
-                                   (p) == 53 ? 0 : \
-                                   WITHIN(p, 62, 69) ? ((p) - 62) : \
-                                   0)
-
-#elif defined(__AVR_ATmega164A__) || defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324A__) || \
-      defined(__AVR_ATmega324P__) || defined(__AVR_ATmega324PA__) || defined(__AVR_ATmega324PB__) || \
-      defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284__) || \
-      defined(__AVR_ATmega1284P__)
-
-  #define digitalPinHasPCICR(p)   WITHIN(p, 0, NUM_DIGITAL_PINS)
-
-#else
-
-  #error "Unsupported AVR variant!"
-
-#endif
-
-
-// Install Pin change interrupt for a pin. Can be called multiple times.
-void pciSetup(const int8_t pin) {
-  if (digitalPinHasPCICR(pin)) {
-    SBI(*digitalPinToPCMSK(pin), digitalPinToPCMSKbit(pin));  // enable pin
-    SBI(PCIFR, digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
-    SBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group
-  }
-}
-
-// Handlers for pin change interrupts
-#ifdef PCINT0_vect
-  ISR(PCINT0_vect) { endstop_ISR(); }
-#endif
-
-#ifdef PCINT1_vect
-  ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
-#endif
-
-#ifdef PCINT2_vect
-  ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
-#endif
-
-#ifdef PCINT3_vect
-  ISR(PCINT3_vect, ISR_ALIASOF(PCINT0_vect));
-#endif
-
-void setup_endstop_interrupts() {
-  #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE)
-  #if HAS_X_MAX
-    #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(X_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(X_MAX_PIN), "X_MAX_PIN is not interrupt-capable");
-      pciSetup(X_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_X_MIN
-    #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(X_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(X_MIN_PIN), "X_MIN_PIN is not interrupt-capable");
-      pciSetup(X_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Y_MAX
-    #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Y_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Y_MAX_PIN), "Y_MAX_PIN is not interrupt-capable");
-      pciSetup(Y_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_Y_MIN
-    #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Y_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Y_MIN_PIN), "Y_MIN_PIN is not interrupt-capable");
-      pciSetup(Y_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Z_MAX
-    #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z_MAX_PIN), "Z_MAX_PIN is not interrupt-capable");
-      pciSetup(Z_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_Z_MIN
-    #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z_MIN_PIN), "Z_MIN_PIN is not interrupt-capable");
-      pciSetup(Z_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_X2_MAX
-    #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(X2_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(X2_MAX_PIN), "X2_MAX_PIN is not interrupt-capable");
-      pciSetup(X2_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_X2_MIN
-    #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(X2_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(X2_MIN_PIN), "X2_MIN_PIN is not interrupt-capable");
-      pciSetup(X2_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Y2_MAX
-    #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Y2_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Y2_MAX_PIN), "Y2_MAX_PIN is not interrupt-capable");
-      pciSetup(Y2_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_Y2_MIN
-    #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Y2_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Y2_MIN_PIN), "Y2_MIN_PIN is not interrupt-capable");
-      pciSetup(Y2_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Z2_MAX
-    #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z2_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z2_MAX_PIN), "Z2_MAX_PIN is not interrupt-capable");
-      pciSetup(Z2_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_Z2_MIN
-    #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z2_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z2_MIN_PIN), "Z2_MIN_PIN is not interrupt-capable");
-      pciSetup(Z2_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Z3_MAX
-    #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z3_MAX_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable");
-      pciSetup(Z3_MAX_PIN);
-    #endif
-  #endif
-  #if HAS_Z3_MIN
-    #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z3_MIN_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable");
-      pciSetup(Z3_MIN_PIN);
-    #endif
-  #endif
-  #if HAS_Z_MIN_PROBE_PIN
-    #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
-      _ATTACH(Z_MIN_PROBE_PIN);
-    #else
-      static_assert(digitalPinHasPCICR(Z_MIN_PROBE_PIN), "Z_MIN_PROBE_PIN is not interrupt-capable");
-      pciSetup(Z_MIN_PROBE_PIN);
-    #endif
-  #endif
-
-  // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
-}

Marlin/src/HAL/HAL_AVR/fast_pwm.cpp

@@ -1,282 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#ifdef __AVR__
-
-#include "../../inc/MarlinConfigPre.h"
-
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_PWM
-
-#include "HAL.h"
-
-struct Timer {
-  volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
-  volatile uint16_t* OCRnQ[3];  // max 3 OCR registers per timer
-  volatile uint16_t* ICRn;      // max 1 ICR register per timer
-  uint8_t n;                    // the timer number [0->5]
-  uint8_t q;                    // the timer output [0->2] (A->C)
-};
-
-/**
- * get_pwm_timer
- *  Get the timer information and register of the provided pin.
- *  Return a Timer struct containing this information.
- *  Used by set_pwm_frequency, set_pwm_duty
- */
-Timer get_pwm_timer(const pin_t pin) {
-  uint8_t q = 0;
-  switch (digitalPinToTimer(pin)) {
-    // Protect reserved timers (TIMER0 & TIMER1)
-    #ifdef TCCR0A
-      #if !AVR_AT90USB1286_FAMILY
-        case TIMER0A:
-      #endif
-      case TIMER0B:
-    #endif
-    #ifdef TCCR1A
-      case TIMER1A: case TIMER1B:
-    #endif
-                                        break;
-    #if defined(TCCR2) || defined(TCCR2A)
-      #ifdef TCCR2
-        case TIMER2: {
-          Timer timer = {
-            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
-            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
-            /*ICRn*/      nullptr,
-            /*n, q*/      2, 0
-          };
-        }
-      #elif defined(TCCR2A)
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          case TIMER2A:   break; // protect TIMER2A
-          case TIMER2B: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-              /*n, q*/      2, 1
-            };
-            return timer;
-          }
-        #else
-          case TIMER2B:   ++q;
-          case TIMER2A: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-                            2, q
-            };
-            return timer;
-          }
-        #endif
-      #endif
-    #endif
-    #ifdef OCR3C
-      case TIMER3C:   ++q;
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  &TCCR3C },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,   &OCR3C },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
-    #elif defined(OCR3B)
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  nullptr },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,  nullptr },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
-    #endif
-    #ifdef TCCR4A
-      case TIMER4C:   ++q;
-      case TIMER4B:   ++q;
-      case TIMER4A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR4A,  &TCCR4B,  &TCCR4C },
-          /*OCRnQ*/   { &OCR4A,   &OCR4B,   &OCR4C },
-          /*ICRn*/      &ICR4,
-          /*n, q*/      4, q
-        };
-        return timer;
-      }
-    #endif
-    #ifdef TCCR5A
-      case TIMER5C:   ++q;
-      case TIMER5B:   ++q;
-      case TIMER5A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR5A,  &TCCR5B,  &TCCR5C },
-          /*OCRnQ*/   { &OCR5A,   &OCR5B,   &OCR5C },
-          /*ICRn*/      &ICR5,
-          /*n, q*/      5, q
-        };
-        return timer;
-      }
-    #endif
-  }
-  Timer timer = {
-      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
-      /*OCRnQ*/   { nullptr, nullptr, nullptr },
-      /*ICRn*/      nullptr,
-                    0, 0
-  };
-  return timer;
-}
-
-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  Timer timer = get_pwm_timer(pin);
-  if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-  uint16_t size;
-  if (timer.n == 2) size = 255; else size = 65535;
-
-  uint16_t res = 255;   // resolution (TOP value)
-  uint8_t j = 0;        // prescaler index
-  uint8_t wgm = 1;      // waveform generation mode
-
-  // Calculating the prescaler and resolution to use to achieve closest frequency
-  if (f_desired != 0) {
-    int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
-    uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
-
-    // loop over prescaler values
-    for (uint8_t i = 1; i < 8; i++) {
-      uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
-      if (timer.n == 2) {
-        // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-          res_temp_fast = rtf - 1;
-          res_temp_phase_correct = rtf / 2;
-        #endif
-      }
-      else {
-        // Skip TIMER2 specific prescalers when not TIMER2
-        if (i == 3 || i == 5) continue;
-        const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-        res_temp_fast = rtf - 1;
-        res_temp_phase_correct = rtf / 2;
-      }
-
-      LIMIT(res_temp_fast, 1u, size);
-      LIMIT(res_temp_phase_correct, 1u, size);
-      // Calculate frequencies of test prescaler and resolution values
-      const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
-                f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
-                f_diff = ABS(f - f_desired),
-                f_fast_diff = ABS(f_temp_fast - f_desired),
-                f_phase_diff = ABS(f_temp_phase_correct - f_desired);
-
-      // If FAST values are closest to desired f
-      if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
-        // Remember this combination
-        f = f_temp_fast;
-        res = res_temp_fast;
-        j = i;
-        // Set the Wave Generation Mode to FAST PWM
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_FAST_PWM_OCR2A
-            #else
-              WGM2_FAST_PWM
-            #endif
-          );
-        }
-        else wgm = WGM_FAST_PWM_ICRn;
-      }
-      // If PHASE CORRECT values are closes to desired f
-      else if (f_phase_diff < f_diff) {
-        f = f_temp_phase_correct;
-        res = res_temp_phase_correct;
-        j = i;
-        // Set the Wave Generation Mode to PWM PHASE CORRECT
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_PWM_PC_OCR2A
-            #else
-              WGM2_PWM_PC
-            #endif
-          );
-        }
-        else wgm = WGM_PWM_PC_ICRn;
-      }
-    }
-  }
-  _SET_WGMnQ(timer.TCCRnQ, wgm);
-  _SET_CSn(timer.TCCRnQ, j);
-
-  if (timer.n == 2) {
-    #if ENABLED(USE_OCR2A_AS_TOP)
-      _SET_OCRnQ(timer.OCRnQ, 0, res);  // Set OCR2A value (TOP) = res
-    #endif
-  }
-  else
-    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
-}
-
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
-  // Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
-  if (v == 0)
-    digitalWrite(pin, invert);
-  else if (v == v_size)
-    digitalWrite(pin, !invert);
-  else {
-    Timer timer = get_pwm_timer(pin);
-    if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-    // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
-    _SET_COMnQ(timer.TCCRnQ, (timer.q
-        #ifdef TCCR2
-          + (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro
-        #endif
-      ), COM_CLEAR_SET + invert
-    );
-
-    uint16_t top;
-    if (timer.n == 2) { // if TIMER2
-      top = (
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          *timer.OCRnQ[0] // top = OCR2A
-        #else
-          255 // top = 0xFF (max)
-        #endif
-      );
-    }
-    else
-      top = *timer.ICRn; // top = ICRn
-
-    _SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top / v_size)); // Scale 8/16-bit v to top value
-  }
-}
-
-#endif // FAST_PWM_FAN || SPINDLE_LASER_PWM
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/fastio.cpp

@@ -1,238 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Fast I/O for extended pins
- */
-
-#ifdef __AVR__
-
-#include "fastio.h"
-
-#ifdef FASTIO_EXT_START
-
-#include "../shared/Marduino.h"
-
-#define _IS_EXT(P) WITHIN(P, FASTIO_EXT_START, FASTIO_EXT_END)
-
-void extDigitalWrite(const int8_t pin, const uint8_t state) {
-  #define _WCASE(N) case N: WRITE(N, state); break
-  switch (pin) {
-    default: digitalWrite(pin, state);
-    #if _IS_EXT(70)
-      _WCASE(70);
-    #endif
-    #if _IS_EXT(71)
-      _WCASE(71);
-    #endif
-    #if _IS_EXT(72)
-      _WCASE(72);
-    #endif
-    #if _IS_EXT(73)
-      _WCASE(73);
-    #endif
-    #if _IS_EXT(74)
-      _WCASE(74);
-    #endif
-    #if _IS_EXT(75)
-      _WCASE(75);
-    #endif
-    #if _IS_EXT(76)
-      _WCASE(76);
-    #endif
-    #if _IS_EXT(77)
-      _WCASE(77);
-    #endif
-    #if _IS_EXT(78)
-      _WCASE(78);
-    #endif
-    #if _IS_EXT(79)
-      _WCASE(79);
-    #endif
-    #if _IS_EXT(80)
-      _WCASE(80);
-    #endif
-    #if _IS_EXT(81)
-      _WCASE(81);
-    #endif
-    #if _IS_EXT(82)
-      _WCASE(82);
-    #endif
-    #if _IS_EXT(83)
-      _WCASE(83);
-    #endif
-    #if _IS_EXT(84)
-      _WCASE(84);
-    #endif
-    #if _IS_EXT(85)
-      _WCASE(85);
-    #endif
-    #if _IS_EXT(86)
-      _WCASE(86);
-    #endif
-    #if _IS_EXT(87)
-      _WCASE(87);
-    #endif
-    #if _IS_EXT(88)
-      _WCASE(88);
-    #endif
-    #if _IS_EXT(89)
-      _WCASE(89);
-    #endif
-    #if _IS_EXT(90)
-      _WCASE(90);
-    #endif
-    #if _IS_EXT(91)
-      _WCASE(91);
-    #endif
-    #if _IS_EXT(92)
-      _WCASE(92);
-    #endif
-    #if _IS_EXT(93)
-      _WCASE(93);
-    #endif
-    #if _IS_EXT(94)
-      _WCASE(94);
-    #endif
-    #if _IS_EXT(95)
-      _WCASE(95);
-    #endif
-    #if _IS_EXT(96)
-      _WCASE(96);
-    #endif
-    #if _IS_EXT(97)
-      _WCASE(97);
-    #endif
-    #if _IS_EXT(98)
-      _WCASE(98);
-    #endif
-    #if _IS_EXT(99)
-      _WCASE(99);
-    #endif
-    #if _IS_EXT(100)
-      _WCASE(100);
-    #endif
-  }
-}
-
-uint8_t extDigitalRead(const int8_t pin) {
-  #define _RCASE(N) case N: return READ(N)
-  switch (pin) {
-    default: return digitalRead(pin);
-    #if _IS_EXT(70)
-      _RCASE(70);
-    #endif
-    #if _IS_EXT(71)
-      _RCASE(71);
-    #endif
-    #if _IS_EXT(72)
-      _RCASE(72);
-    #endif
-    #if _IS_EXT(73)
-      _RCASE(73);
-    #endif
-    #if _IS_EXT(74)
-      _RCASE(74);
-    #endif
-    #if _IS_EXT(75)
-      _RCASE(75);
-    #endif
-    #if _IS_EXT(76)
-      _RCASE(76);
-    #endif
-    #if _IS_EXT(77)
-      _RCASE(77);
-    #endif
-    #if _IS_EXT(78)
-      _RCASE(78);
-    #endif
-    #if _IS_EXT(79)
-      _RCASE(79);
-    #endif
-    #if _IS_EXT(80)
-      _RCASE(80);
-    #endif
-    #if _IS_EXT(81)
-      _RCASE(81);
-    #endif
-    #if _IS_EXT(82)
-      _RCASE(82);
-    #endif
-    #if _IS_EXT(83)
-      _RCASE(83);
-    #endif
-    #if _IS_EXT(84)
-      _RCASE(84);
-    #endif
-    #if _IS_EXT(85)
-      _RCASE(85);
-    #endif
-    #if _IS_EXT(86)
-      _RCASE(86);
-    #endif
-    #if _IS_EXT(87)
-      _RCASE(87);
-    #endif
-    #if _IS_EXT(88)
-      _RCASE(88);
-    #endif
-    #if _IS_EXT(89)
-      _RCASE(89);
-    #endif
-    #if _IS_EXT(90)
-      _RCASE(90);
-    #endif
-    #if _IS_EXT(91)
-      _RCASE(91);
-    #endif
-    #if _IS_EXT(92)
-      _RCASE(92);
-    #endif
-    #if _IS_EXT(93)
-      _RCASE(93);
-    #endif
-    #if _IS_EXT(94)
-      _RCASE(94);
-    #endif
-    #if _IS_EXT(95)
-      _RCASE(95);
-    #endif
-    #if _IS_EXT(96)
-      _RCASE(96);
-    #endif
-    #if _IS_EXT(97)
-      _RCASE(97);
-    #endif
-    #if _IS_EXT(98)
-      _RCASE(98);
-    #endif
-    #if _IS_EXT(99)
-      _RCASE(99);
-    #endif
-    #if _IS_EXT(100)
-      _RCASE(100);
-    #endif
-  }
-}
-
-#endif // FASTIO_EXT_START
-#endif // __AVR__

Marlin/src/HAL/HAL_AVR/fastio.h

@@ -1,356 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * Fast I/O Routines for AVR
- * Use direct port manipulation to save scads of processor time.
- * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
- */
-
-#include <avr/io.h>
-
-#define AVR_AT90USB1286_FAMILY (defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__))
-#define AVR_ATmega1284_FAMILY (defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__))
-#define AVR_ATmega2560_FAMILY (defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__))
-#define AVR_ATmega2561_FAMILY (defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__))
-#define AVR_ATmega328_FAMILY (defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__))
-
-/**
- * Include Ports and Functions
- */
-#if AVR_ATmega328_FAMILY
-  #include "fastio/fastio_168.h"
-#elif AVR_ATmega1284_FAMILY
-  #include "fastio/fastio_644.h"
-#elif AVR_ATmega2560_FAMILY
-  #include "fastio/fastio_1280.h"
-#elif AVR_AT90USB1286_FAMILY
-  #include "fastio/fastio_AT90USB.h"
-#elif AVR_ATmega2561_FAMILY
-  #include "fastio/fastio_1281.h"
-#else
-  #error "No FastIO definition for the selected AVR Board."
-#endif
-
-/**
- * Magic I/O routines
- *
- * Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
- *
- * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
- */
-
-#define _READ(IO)             TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
-
-#define _WRITE_NC(IO,V) do{ \
-  if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
-  else   CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
-}while(0)
-
-#define _WRITE_C(IO,V) do{ \
-  uint8_t port_bits = DIO ## IO ## _WPORT;                  /* Get a mask from the current port bits */ \
-  if (V) port_bits = ~port_bits;                            /* For setting bits, invert the mask */ \
-  DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
-}while(0)
-
-#define _WRITE(IO,V)          do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
-
-#define _TOGGLE(IO)           (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
-
-#define _SET_INPUT(IO)        CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
-#define _SET_OUTPUT(IO)       SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
-
-#define _IS_INPUT(IO)         !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
-#define _IS_OUTPUT(IO)        TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
-
-// digitalRead/Write wrappers
-#ifdef FASTIO_EXT_START
-  void extDigitalWrite(const int8_t pin, const uint8_t state);
-  uint8_t extDigitalRead(const int8_t pin);
-#else
-  #define extDigitalWrite(IO,V) digitalWrite(IO,V)
-  #define extDigitalRead(IO)    digitalRead(IO)
-#endif
-
-#define READ(IO)              _READ(IO)
-#define WRITE(IO,V)           _WRITE(IO,V)
-#define TOGGLE(IO)            _TOGGLE(IO)
-
-#define SET_INPUT(IO)         _SET_INPUT(IO)
-#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
-#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
-
-#define SET_PWM(IO)           SET_OUTPUT(IO)
-
-#define IS_INPUT(IO)          _IS_INPUT(IO)
-#define IS_OUTPUT(IO)         _IS_OUTPUT(IO)
-
-#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
-
-/**
- * Timer and Interrupt Control
- */
-
-// Waveform Generation Modes
-enum WaveGenMode : char {
-  WGM_NORMAL,          //  0
-  WGM_PWM_PC_8,        //  1
-  WGM_PWM_PC_9,        //  2
-  WGM_PWM_PC_10,       //  3
-  WGM_CTC_OCRnA,       //  4  COM OCnx
-  WGM_FAST_PWM_8,      //  5
-  WGM_FAST_PWM_9,      //  6
-  WGM_FAST_PWM_10,     //  7
-  WGM_PWM_PC_FC_ICRn,  //  8
-  WGM_PWM_PC_FC_OCRnA, //  9  COM OCnA
-  WGM_PWM_PC_ICRn,     // 10
-  WGM_PWM_PC_OCRnA,    // 11  COM OCnA
-  WGM_CTC_ICRn,        // 12  COM OCnx
-  WGM_reserved,        // 13
-  WGM_FAST_PWM_ICRn,   // 14  COM OCnA
-  WGM_FAST_PWM_OCRnA   // 15  COM OCnA
-};
-
-// Wavefore Generation Modes (Timer 2 only)
-enum WaveGenMode2 : char {
-  WGM2_NORMAL,          // 0
-  WGM2_PWM_PC,          // 1
-  WGM2_CTC_OCR2A,       // 2
-  WGM2_FAST_PWM,        // 3
-  WGM2_reserved_1,      // 4
-  WGM2_PWM_PC_OCR2A,    // 5
-  WGM2_reserved_2,      // 6
-  WGM2_FAST_PWM_OCR2A,  // 7
-};
-
-// Compare Modes
-enum CompareMode : char {
-  COM_NORMAL,          //  0
-  COM_TOGGLE,          //  1  Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
-  COM_CLEAR_SET,       //  2  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
-  COM_SET_CLEAR        //  3  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
-};
-
-// Clock Sources
-enum ClockSource : char {
-  CS_NONE,             //  0
-  CS_PRESCALER_1,      //  1
-  CS_PRESCALER_8,      //  2
-  CS_PRESCALER_64,     //  3
-  CS_PRESCALER_256,    //  4
-  CS_PRESCALER_1024,   //  5
-  CS_EXT_FALLING,      //  6
-  CS_EXT_RISING        //  7
-};
-
-// Clock Sources (Timer 2 only)
-enum ClockSource2 : char {
-  CS2_NONE,            //  0
-  CS2_PRESCALER_1,     //  1
-  CS2_PRESCALER_8,     //  2
-  CS2_PRESCALER_32,    //  3
-  CS2_PRESCALER_64,    //  4
-  CS2_PRESCALER_128,   //  5
-  CS2_PRESCALER_256,   //  6
-  CS2_PRESCALER_1024   //  7
-};
-
-// Get interrupt bits in an orderly way
-// Ex: cs = GET_CS(0); coma1 = GET_COM(A,1);
-#define GET_WGM(T)   (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
-#define GET_CS(T)    ((TCCR##T##B >> CS##T##0) & 0x7)
-#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
-#define GET_COMA(T)  GET_COM(T,A)
-#define GET_COMB(T)  GET_COM(T,B)
-#define GET_COMC(T)  GET_COM(T,C)
-#define GET_ICNC(T)  (!!(TCCR##T##B & _BV(ICNC##T)))
-#define GET_ICES(T)  (!!(TCCR##T##B & _BV(ICES##T)))
-#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
-#define GET_FOCA(T)  GET_FOC(T,A)
-#define GET_FOCB(T)  GET_FOC(T,B)
-#define GET_FOCC(T)  GET_FOC(T,C)
-
-// Set Wave Generation Mode bits
-// Ex: SET_WGM(5,CTC_ICRn);
-#define _SET_WGM(T,V) do{ \
-    TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V)       & 0x3) << WGM##T##0); \
-    TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
-  }while(0)
-#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
-// Runtime (see set_pwm_frequency):
-#define _SET_WGMnQ(TCCRnQ, V) do{ \
-    *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
-    *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
-  }while(0)
-
-// Set Clock Select bits
-// Ex: SET_CS3(PRESCALER_64);
-#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
-#define _SET_CS0(V) _SET_CS(0,V)
-#define _SET_CS1(V) _SET_CS(1,V)
-#ifdef TCCR2
-  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
-#else
-  #define _SET_CS2(V) _SET_CS(2,V)
-#endif
-#define _SET_CS3(V) _SET_CS(3,V)
-#define _SET_CS4(V) _SET_CS(4,V)
-#define _SET_CS5(V) _SET_CS(5,V)
-#define SET_CS0(V) _SET_CS0(CS_##V)
-#define SET_CS1(V) _SET_CS1(CS_##V)
-#ifdef TCCR2
-  #define SET_CS2(V) _SET_CS2(CS2_##V)
-#else
-  #define SET_CS2(V) _SET_CS2(CS_##V)
-#endif
-#define SET_CS3(V) _SET_CS3(CS_##V)
-#define SET_CS4(V) _SET_CS4(CS_##V)
-#define SET_CS5(V) _SET_CS5(CS_##V)
-#define SET_CS(T,V) SET_CS##T(V)
-// Runtime (see set_pwm_frequency)
-#define _SET_CSn(TCCRnQ, V) do{ \
-    (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
-  }while(0)
-
-// Set Compare Mode bits
-// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
-#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
-#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
-#define SET_COMA(T,V) SET_COM(T,A,V)
-#define SET_COMB(T,V) SET_COM(T,B,V)
-#define SET_COMC(T,V) SET_COM(T,C,V)
-#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
-// Runtime (see set_pwm_duty)
-#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
-    (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
-  }while(0)
-
-// Set OCRnQ register
-// Runtime (see set_pwm_duty):
-#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
-    (*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)
-
-// Set ICRn register (one per timer)
-// Runtime (see set_pwm_frequency)
-#define _SET_ICRn(ICRn, V) do{ \
-    (*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)
-
-// Set Noise Canceler bit
-// Ex: SET_ICNC(2,1)
-#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
-
-// Set Input Capture Edge Select bit
-// Ex: SET_ICES(5,0)
-#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
-
-// Set Force Output Compare bit
-// Ex: SET_FOC(3,A,1)
-#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
-#define SET_FOCA(T,V) SET_FOC(T,A,V)
-#define SET_FOCB(T,V) SET_FOC(T,B,V)
-#define SET_FOCC(T,V) SET_FOC(T,C,V)
-
-#if 0
-
-/**
- * PWM availability macros
- */
-
-// Determine which harware PWMs are already in use
-#if PIN_EXISTS(CONTROLLER_FAN)
-  #define PWM_CHK_FAN_B(P) (P == CONTROLLER_FAN_PIN || P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
-#else
-  #define PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
-#endif
-
-#if ANY_PIN(FAN, FAN1, FAN2)
-  #if PIN_EXISTS(FAN2)
-    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN)
-  #elif PIN_EXISTS(FAN1)
-    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN)
-  #else
-    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN)
-  #endif
-#else
-  #define PWM_CHK_FAN_A(P) false
-#endif
-
-#if HAS_MOTOR_CURRENT_PWM
-  #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
-  #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
-  #else
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
-  #endif
-#else
-  #define PWM_CHK_MOTOR_CURRENT(P) false
-#endif
-
-#ifdef NUM_SERVOS
-  #if AVR_ATmega2560_FAMILY
-    #define PWM_CHK_SERVO(P) (P == 5 || (NUM_SERVOS > 12 && P == 6) || (NUM_SERVOS > 24 && P == 46))  // PWMS 3A, 4A & 5A
-  #elif AVR_ATmega2561_FAMILY
-    #define PWM_CHK_SERVO(P)   (P == 5)  // PWM3A
-  #elif AVR_ATmega1284_FAMILY
-    #define PWM_CHK_SERVO(P)   false
-  #elif AVR_AT90USB1286_FAMILY
-    #define PWM_CHK_SERVO(P)   (P == 16) // PWM3A
-  #elif AVR_ATmega328_FAMILY
-    #define PWM_CHK_SERVO(P)   false
-  #endif
-#else
-  #define PWM_CHK_SERVO(P) false
-#endif
-
-#if ENABLED(BARICUDA)
-  #if HAS_HEATER_1 && HAS_HEATER_2
-    #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN || P == HEATER_2_PIN)
-  #elif HAS_HEATER_1
-    #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN)
-  #endif
-#else
-    #define PWM_CHK_HEATER(P) false
-#endif
-
-#define PWM_CHK(P) (PWM_CHK_HEATER(P) || PWM_CHK_SERVO(P) || PWM_CHK_MOTOR_CURRENT(P) || PWM_CHK_FAN_A(P) || PWM_CHK_FAN_B(P))
-
-#endif // PWM_CHK is not used in Marlin
-
-// define which hardware PWMs are available for the current CPU
-// all timer 1 PWMS deleted from this list because they are never available
-#if AVR_ATmega2560_FAMILY
-  #define PWM_PIN(P)  ((P >= 2 && P <= 10) || P == 13 || P == 44 || P == 45 || P == 46)
-#elif AVR_ATmega2561_FAMILY
-  #define PWM_PIN(P)  ((P >= 2 && P <= 6) || P == 9)
-#elif AVR_ATmega1284_FAMILY
-  #define PWM_PIN(P)  (P == 3 || P == 4 || P == 14 || P == 15)
-#elif AVR_AT90USB1286_FAMILY
-  #define PWM_PIN(P)  (P == 0 || P == 1 || P == 14 || P == 15 || P == 16 || P == 24)
-#elif AVR_ATmega328_FAMILY
-  #define PWM_PIN(P)  (P == 3 || P == 5 || P == 6 || P == 11)
-#else
-  #error "unknown CPU"
-#endif